User Manual 20855 (Manymanuals.com)

Inverter
8400 E84AVSCxxxxx...
Inverter Drives 8400 StateLine C _ _ _ _ _ _ _ _ Reference manual EN

Ä.OT7ä
13465122
L
Overview of technical documentation for Inverter Drives 8400
________________________________________________________________
Project planning, selection & ordering Legend:

 8400 hardware manual  Printed documentation
 Catalogue  Online documentation
(PDF/Engineer online help)
Mounting & wiring Abbreviations used:
 MA 8400 BaseLine/StateLine/HighLine/TopLine BA Operating Instructions
 MA for the communication module KHB Communication manual
 MA for the extension module MA Mounting instructions
 MA for the safety module SW Software/reference manual
 MA for the accessories
Parameterisation
 BA keypad
 SW 8400 BaseLine
 SW 8400 StateLine  This documentation
 SW 8400 HighLine
 SW 8400 TopLine
 KHB for the communication module
Drive commissioning
 SW 8400 BaseLine/StateLine/HighLine/TopLine
 chapter "Commissioning"
 chapter "Diagnostics & error management"
 Remote maintenance manual
Networking
 KHB for the communication medium used
2 Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

Contents
________________________________________________________________
1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15

1.1 Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
1.2 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
1.3 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
1.4 Definition of the notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
2 Introduction: Parameterising the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20

2.1 Integrated technology applications _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 22
2.1.1 Purpose of the technology applications _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
2.1.2 Application cases for a technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
2.1.3 Technology application = function block interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 24
2.2 Selection of the appropriate commissioning tool _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
2.2.1 Overview: Accessories for commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26
2.3 General notes on parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
2.3.1 Changing the parameterisation with the keypad _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
2.3.2 Change parameter settings with PC and Lenze software _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
2.3.3 Save parameter settings in the memory module safe against mains failure _ _ _ _ _ _ _ 32
2.3.4 User menu for quick access to frequently used parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
2.4 Device access protection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
2.4.1 Password protection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36
2.4.2 Individual password protection for single communication channels _ _ _ _ _ _ _ _ _ _ _ 38
2.4.3 Device personalisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40
2.4.4 Unlocking the controller with a MasterPin _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42
2.5 Device identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
2.5.1 Automatic acceptance of the device name in the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
2.5.2 Extended item designation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
3 Commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44
3.1 Safety instructions with regard to commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45
3.2 Notes on motor control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 46
3.3 Preconditions for commissioning with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 47
3.4 Trouble-shooting during commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48
3.5 Commissioning wizard 8400 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48
3.6 Manual motor direction of rotation check (manual control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 50
3.7 Commissioning of the "Actuating drive speed" technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 51
3.7.1 Prepare controller for commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 52
3.7.2 Creating an »Engineer« project & going online _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53
3.7.3 Parameterising the motor control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54
3.7.4 Parameterise application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55
3.7.5 Saving parameter settings safe against mains failure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
3.7.6 Enable controller and test application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
3.8 Commissioning of the "Switch-off positioning" technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 59
3.8.1 Prepare controller for commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 61
3.8.2 Creating an »Engineer« project & going online _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 62
3.8.3 Parameterising the motor control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 63
3.8.4 Parameterise application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64
3.8.5 Saving parameter settings safe against mains failure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66
3.8.6 Enable controller and test application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66
3.9 PC manual control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 67
3.9.1 Activate PC manual control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 67
3.9.2 Speed control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 70
Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14 3

Contents
________________________________________________________________
4 Device control (DCTRL) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72

4.1 Device commands (C00002/x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74
4.1.1 Load Lenze setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 77
4.1.2 Load all parameter sets _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
4.1.3 Save all parameter sets _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
4.1.4 Enable/Inhibit controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80
4.1.5 Activate/deactivate quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 81
4.1.6 Reset error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82
4.1.7 Delete logbook _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82
4.1.8 Device search function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83
4.2 Device state machine and device states _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 84
4.2.1 FirmwareUpdate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85
4.2.2 Init _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 86
4.2.3 Ident _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 87
4.2.4 SafeTorqueOff _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 88
4.2.5 ReadyToSwitchOn _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 89
4.2.6 SwitchedOn _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90
4.2.7 OperationEnabled _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 91
4.2.8 TroubleQSP _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 92
4.2.9 Trouble _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 93
4.2.10 Fault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94
4.2.11 SystemFault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94
4.3 Automatic restart after mains connection/fault... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 95
4.3.1 "Inhibit at power-on" auto-start option _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 95
4.3.2 Auto-start option "Inhibit at Lenze setting" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 97
4.4 Internal interfaces | "LS_DriveInterface" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 98
4.4.1 wCANControl/wMCIControl control words _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
4.4.2 wDeviceStatusWord status word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
5 Motor control (MCTRL) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 104

5.1 Motor selection/Motor data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 105
5.1.1 Selecting a motor from the motor catalogue in the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ 109
5.1.2 Automatic motor data identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 111
5.1.3 Application notes for asynchronous motors with high slip speed _ _ _ _ _ _ _ _ _ _ _ _ _ 117
5.2 Selecting the control mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 118
5.2.1 Selection help _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 122
5.3 Defining current and speed limits _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 123
5.4 V/f characteristic control (VFCplus) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 126
5.4.1 Parameterisation dialog/signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 127
5.4.2 Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 129
5.4.2.1 Defining the V/f characteristic shape _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 130
5.4.2.2 Defining current limits (Imax controller) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 131
5.4.3 Optimising the control mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 132
5.4.3.1 Adapting the V/f base frequency _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 133
5.4.3.2 Adapting the Vmin boost _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 135
5.4.3.3 Optimising the Imax controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 136
5.4.3.4 Optimising the stalling behaviour _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 137
5.4.3.5 Torque limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 138
5.4.3.6 Defining a user-defined V/f characteristic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 140
5.4.4 Remedies for undesired drive behaviour _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 143

Contents
________________________________________________________________
5.5 V/f characteristic control - energy-saving (VFCplusEco) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 144

5.5.2 Comparison of VFCplusEco - VFCplus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 147
5.5.3 Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 148
5.5.4.1 Improving the behaviour at high dynamic load changes _ _ _ _ _ _ _ _ _ _ _ 150
5.5.4.2 Adapting the slope limitation for lowering the Eco function _ _ _ _ _ _ _ _ 151
5.5.4.3 Optimising the cos/phi controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
5.6 V/f control (VFCplus + encoder) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 154
5.6.2 Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157
5.6.2.1 Parameterising the slip regulator _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158
5.7 Sensorless vector control (SLVC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 161
5.7.2 Types of control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 164
5.7.2.1 Speed control with torque limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 164
5.7.2.2 Torque control with speed limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 165
5.7.3 Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 166
5.7.4.1 Optimising the starting performance after a controller enable _ _ _ _ _ _ _ 167
5.7.4.2 Optimise speed controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 168
5.7.4.3 Optimising dynamic performance and field weakening behaviour _ _ _ _ _ 169
5.7.4.4 Optimising the stalling behaviour _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 170
5.7.4.5 Optimise response to setpoint changes and determine mass inertia _ _ _ _ 171
5.7.4.6 Slip calculation from motor equivalent circuit diagram data _ _ _ _ _ _ _ _ 174
5.7.4.7 Optimising field feedforward control and torque feedforward control _ _ _ 175
5.8 Sensorless control for synchronous motors (SLPSM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 177
5.8.2 Types of control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 182
5.8.3 Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 183
5.8.4.1 Optimise current controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 186
5.8.4.2 Optimise speed controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 187
5.8.4.3 Optimise response to setpoint changes and determine mass inertia _ _ _ _ 190
5.8.4.4 Current-dependent stator leakage inductance Ppp(I) _ _ _ _ _ _ _ _ _ _ _ _ 193
5.8.4.5 Setting the current setpoint filter (band-stop filter) _ _ _ _ _ _ _ _ _ _ _ _ _ 195
5.8.4.6 Adapting the max. acceleration change (jerk limitation) _ _ _ _ _ _ _ _ _ _ 196
5.8.5 Pole position identification without motion _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 197
5.8.6 Field weakening for synchronous motors _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 199
5.9 Parameterisable additional functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 202
5.9.1 Selection of switching frequency _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 202
5.9.2 Operation with increased rated power _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 206
5.9.3 Flying restart function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 208
5.9.4 DC-injection braking _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 211
5.9.4.1 Manual DC-injection braking (DCB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 212
5.9.4.2 Automatic DC-injection braking (Auto-DCB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 212
5.9.5 Slip compensation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 215
5.9.6 Oscillation damping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 216
5.9.6.1 Oscillation damping voltage range _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 217
5.9.6.2 Oscillation damping in the field weakening range _ _ _ _ _ _ _ _ _ _ _ _ _ _ 218
5.9.7 Phase sequence reversal for correcting misconnected UVW motor phases _ _ _ _ _ _ _ _ 219

Contents
________________________________________________________________
5.10 Encoder/feedback system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 220

5.10.1 Parameterising digital inputs as encoder inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 222
5.10.2 Generation of the actual speed value _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 223
5.10.3 HTL encoder at DI1/DI2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 224
5.11 Braking operation/brake energy management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 226
5.11.1 Setting the voltage source for braking operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 229
5.11.2 Selecting the response to an increase of the DC-bus voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 229
5.11.2.1 Inverter motor brake _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 231
5.11.3 Avoiding thermal overload of the brake resistor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 234
5.11.4 Control of multiple internal brake choppers in the DC-bus system _ _ _ _ _ _ _ _ _ _ _ _ 234
5.12 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 237
5.12.1 Device overload monitoring (Ixt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 238
5.12.2 Motor overload monitoring (I2xt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 239
5.12.3 Motor overcurrent monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 241
5.12.4 Motor temperature monitoring (PTC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 242
5.12.5 Brake resistor monitoring (I2xt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 243
5.12.6 Motor phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 245
5.12.7 Motor phase error monitoring before operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 246
5.12.8 Mains phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 248
5.12.9 Maximum current monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 248
5.12.10 Maximum torque monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 249
5.12.11 Motor speed monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 249
5.12.12 Encoder open-circuit monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 250
5.13 Internal interfaces | System block "LS_MotorInterface" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 251
5.14 Internal status signals | System block "LS_DeviceMonitor" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 257
6 I/O terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 260

6.1 Digital terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 261
6.1.1 Change function assignment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 264
6.1.1.1 Using DI1 and DI2 as digital inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 265
6.1.1.2 Using DI1 and DI2 as frequency inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 266
6.1.1.3 Using DI1 as counting input _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 270
6.1.2 Internal interfaces | System block "LS_DigitalInput" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 273
6.1.2.1 Output of the encoder position of the DI1/DI2 frequency input _ _ _ _ _ _ _ 275
6.1.3 Internal interfaces | System block "LS_DigitalOutput" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 279
6.2 Analog terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 280
6.2.1 Parameterising analog input _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 282
6.2.1.1 Signal adaptation by means of characteristic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 284
6.2.2 Parameterising analog output _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 286
6.2.3 Internal interfaces | System block "LS_AnalogInput" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 287
6.2.4 Internal interfaces | System block "LS_AnalogOutput" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 287
6.3 Configuring exception handling of the output terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 288
6.4 User-defined terminal assignment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 289
6.4.1 Source-destination principle _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 290
6.4.2 Changing the terminal assignment with the keypad _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 291
6.4.3 Changing the terminal assignment with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 293

Contents
________________________________________________________________
7 Technology applications _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 296

7.1 Selection of the technology application and the control mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 297
7.2 TA "Actuating drive speed" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 298
7.2.1 Basic signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 299
7.2.2 Internal interfaces | application block "LA_NCtrl" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 301
7.2.3 Terminal assignment of the control modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 309
7.2.3.1 Terminals 0 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 310
7.2.3.2 Terminals 2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 311
7.2.3.3 Terminals 11 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 312
7.2.3.4 Terminal 16 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 313
7.2.3.5 Keypad _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 314
7.2.3.6 PC _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 315
7.2.3.7 CAN _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 316
7.2.3.8 MCI _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 317
7.2.4 Process data assignment for fieldbus communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 318
7.2.5 Setting parameters (short overview) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 320
7.2.6 Configuration parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 322
7.3 TA "actuating drive speed (AC Drive Profile)" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 325
7.3.1 I/O assemblies _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 326
7.3.3 Internal interfaces | application block "LA_NCtrl" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 330
7.3.4.1 Terminals 0 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 340
7.3.4.2 Terminals 2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 341
7.3.4.3 Terminals 11 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 342
7.3.4.4 Terminal 16 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 343
7.3.4.5 Keypad _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 344
7.3.4.6 PC _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 345
7.3.4.7 CAN _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 346
7.3.4.8 MCI _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 347
7.3.5.1 Run/Stop event _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 349
7.3.5.2 Scaling of speed and torque values _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 350
7.3.6 AC Drive Profile diagnostic parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 351
7.4 TA "Switch-off positioning" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 358
7.4.2 Internal interfaces | application block "LA_SwitchPos" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 361
7.4.2.1 Truth table for activating the pre-switch off _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 368
7.4.3.1 Terminals 0 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 370
7.4.3.2 Terminals 2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 371
7.4.3.3 Terminals 11 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 372
7.4.3.4 Terminal 16 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 373
7.4.3.5 Keypad _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 374
7.4.3.6 PC _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 375
7.4.3.7 CAN _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 376
7.4.3.8 MCI _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 377

Contents
________________________________________________________________
7.5 "GeneralPurpose" functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 385

7.5.1 Analog switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 385
7.5.2 Arithmetic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 386
7.5.3 Multiplication/Division _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 386
7.5.4 Binary delay element _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 387
7.5.5 Binary logic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 387
7.5.6 Analog comparison _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 388
7.5.7 Binary signal monitor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 388
7.5.8 Analog signal monitor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 389
7.5.9 D-FlipFlop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 389
8 Basic drive functions (MCK) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 390

8.1 Basic signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 391
8.2 Internal interfaces | System block "LS_MotionControlKernel" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 392
8.2.1 MCK status word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 397
8.2.2 MCK state machine _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 398
8.2.2.1 "StandBy" operating mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 398
8.2.3 Interface to safety system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 399
8.3 Speed follower _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 400
8.3.1 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 400
8.3.2 Setpoint selection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 401
8.4 Holding brake control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 402
8.4.1 Internal interfaces _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 403
8.4.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 405
8.4.2.1 Operating mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 406
8.4.2.2 Functional settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 408
8.4.2.3 Switching thresholds _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 409
8.4.2.4 Application and release time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 410
8.4.2.5 Ramp time for approaching the setpoint speed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 412
8.4.2.6 Motor magnetising time (only with asynchronous motor) _ _ _ _ _ _ _ _ _ 413
8.4.2.7 Actual value monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 413
8.4.3 Process when brake is released _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 414
8.4.4 Process when brake is closed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 415
8.4.5 Behaviour in case of pulse inhibit _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 417
8.4.6 Feedforward control of the motor before release _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 418
9 Diagnostics & error management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 420

9.1 Basics on error handling in the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 420
9.2 LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 421
9.2.1 LED status displays of the device status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 422
9.3 Drive diagnostics with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 423
9.3.1 Display details of the error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 425
9.4 Drive diagnostics via keypad/bus system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 426
9.5 Logbook _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 429
9.5.1 Functional description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 429
9.5.2 Filtering logbook entries _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 430
9.5.3 Automatic recording of device-internal signals at the time the error occurs _ _ _ _ _ _ _ 430
9.5.4 Reading out logbook entries _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 431
9.5.5 Exporting logbook entries to a file _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 432
9.5.6 Storing the logbook in the project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 433
9.5.7 Reading out the logbook from an external control/visualisation _ _ _ _ _ _ _ _ _ _ _ _ _ 434
9.6 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 436
9.6.1 Monitoring configuration _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 437
9.6.2 Setting the error response _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 438
9.6.3 AutoFailReset function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 439

Contents
________________________________________________________________
9.7 Maloperation of the drive _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 440

9.8 Operation without mains supply _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 443
9.9 Error messages of the operating system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 444
9.9.1 Structure of the 32-bit error number (bit coding) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 444
9.9.2 Structure of the 16 bit error number (bit coding) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 447
9.9.3 Reset error message _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 448
9.9.4 Export error texts _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 449
9.9.5 Short overview (A-Z) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 450
9.9.6 Cause & possible remedies _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 453
9.10 "LS_SetError_1" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 471
10 Oscilloscope function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 472

10.1 Technical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 473
10.2 User interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 474
10.3 Operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 476
10.3.1 Selecting the variables to be recorded _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 476
10.3.2 Selecting the recording time/sample rate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 477
10.3.3 Defining the trigger condition _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 478
10.3.4 Starting recording _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 479
10.3.5 Adjusting the representation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 479
10.3.6 Cursor function: Reading individual measured values _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 482
10.4 Managing oscillograms (measured data sets) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 483
10.4.1 Commenting the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 483
10.4.2 Saving the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 484
10.4.3 Loading the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 485
10.4.4 Closing the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 486
10.4.5 Overlay function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 486
10.4.6 Deleting a data set saved in the project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 487
11 System bus "CAN on board" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 488

11.1 General information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 489
11.1.1 General data and application conditions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 489
11.1.2 Supported protocols _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 490
11.1.3 Communication time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 491
11.2 Possible settings via DIP switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 492
11.2.1 Activating the bus terminating resistor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 492
11.2.2 Setting the baud rate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 493
11.2.3 Setting the node address _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 493
11.3 LED status displays for the system bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 494
11.4 Going online via the system bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 495
11.5 Reinitialising the CANopen interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 495
11.6 Structure of the CAN data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 496
11.6.1 Identifier _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 496
11.6.2 User data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 498
11.7 Communication phases/network management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 499
11.7.1 Status transitions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 500
11.7.2 Network management telegram (NMT) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 501
11.7.3 Parameterising the controller as CAN master _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 502

Contents
________________________________________________________________
11.8 Process data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 503

11.8.1 Available process data objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 504
11.8.1.1 RPDO1 | Port block "LP_CanIn1" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 505
11.8.1.2 RPDO2 | "LP_CanIn2" port block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 507
11.8.1.5 TPDO1 | "LP_CanOut1" port block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 513
11.8.2 Identifiers of the process data objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 517
11.8.3 Transmission type _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 519
11.8.4 PDO synchronisation via sync telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 521
11.8.5 Monitoring of the RPDOs for data reception _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 522
11.8.6 Configuring exception handling of the CAN PDOs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 522
11.9 Parameter data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 524
11.9.1 Identifiers of the parameter data objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 525
11.9.2 User data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 525
11.9.2.1 Command _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 526
11.9.2.2 Addressing by means of index and subindex _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 527
11.9.2.3 Data 1 ... Data 4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 528
11.9.2.4 Error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 529
11.9.3 Parameter data telegram examples _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 531
11.9.3.1 Read parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 531
11.9.3.2 Write parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 532
11.9.3.3 Read block parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 533
11.10 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 536
11.10.1 Integrated error detection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 536
11.10.2 Heartbeat protocol _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 537
11.10.2.1 Telegram structure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 537
11.10.2.2 Parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 538
11.10.2.3 Commissioning example _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 539
11.10.3 Emergency telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 540
11.11 Implemented CANopen objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 541
11.12 Internal interfaces | System block "LS_CANManagement" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 567
12 Fieldbus interface (MCI) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 568

12.1 Process data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 569
12.2 Control mode "MCI" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 571
12.2.1 Port block "LP_MciIn" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 572
12.2.2 Port block "LP_MciOut" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 573
12.3 CAN gateway _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 574
13 Synchronisation of the internal time base _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 575

13.1 Internal interfaces | System block "LS_SyncManagement" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 576
14 Parameter change-over _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 577

14.1 Configuring parameter change-over via the »Engineer« parameterisation dialog _ _ _ _ _ _ _ _ _ 578
14.1.1 Configuring the parameter list(s) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 579
14.1.2 Configuring control inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 582
14.1.3 Functional settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 583
14.1.4 Error indication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 583
14.2 Configuring the definable parameter list by means of parameterisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ 584
14.3 Configuring the motor data parameter list by means of parameterisation _ _ _ _ _ _ _ _ _ _ _ _ _ 585
14.4 Internal interfaces | System block "LS_WriteParamList" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 588

Contents
________________________________________________________________
15 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 590

15.1 Structure of the parameter descriptions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 591
15.1.1 Data type _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 592
15.1.2 Parameters with read-only access _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 592
15.1.3 Parameters with write access _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 593
15.1.3.1 Parameters with setting range _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 593
15.1.3.2 Parameters with selection list _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 593
15.1.3.3 Parameters with bit-coded setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 594
15.1.3.4 Parameters with subcodes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 595
15.1.4 Parameter attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 595
15.2 Parameter list _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 597
15.3 Selection list - analog signals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 835
15.4 Selection list - digital signals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 838
15.5 Selection list - angle signals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 843
15.6 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 844
16 Working with the FB Editor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 857

16.1 Basics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 857
16.1.1 Basic components of a drive solution _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 858
16.1.1.1 What is a function block? _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 859
16.1.1.2 Parameterisable function blocks _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 860
16.1.1.3 What is a system block? _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 860
16.1.1.4 What is a port block? _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 861
16.1.1.5 What is an application block? _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 861
16.1.2 Conventions used for input/output identifiers _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 862
16.1.3 Scaling of physical units _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 863
16.2 User interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 864
16.2.1 Toolbar _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 865
16.2.2 Search function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 866
16.2.3 Level selection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 867
16.2.4 Editor view/overview _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 869
16.2.5 Context menu _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 870
16.2.6 Status bar _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 870
16.2.7 Overview window _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 871
16.3 Using the FB Editor as "Viewer" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 873
16.3.1 Following connections of inputs and outputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 874
16.3.2 Keyboard commands for navigation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 875
16.3.3 Change online display format _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 876
16.4 Reconfiguring the predefined interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 878
16.4.1 Inserting/Deleting objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 878
16.4.1.1 Inserting a function block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 879
16.4.1.2 Inserting a system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 881
16.4.1.3 Inserting a port block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 883
16.4.1.4 Inserting a comment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 885
16.4.1.5 Deleting objects that are no longer required _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 887
16.4.2 Changing connector visibilities _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 888
16.4.3 Arranging objects in the drawing area _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 889
16.4.4 Creating/deleting connections _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 890
16.4.4.1 Creating a connection using the connection line _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 892
16.4.4.2 Creating a connection using port identifiers _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 893
16.4.4.3 Creating a connection via connection dialog _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 894
16.4.4.4 Deleting connections that are no longer required _ _ _ _ _ _ _ _ _ _ _ _ _ _ 895

Contents
________________________________________________________________
16.4.5 Changing the processing order _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 896

16.4.6 Copying interconnection elements (across all devices) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 898
16.4.6.1 Insert options for copied elements _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 900
16.4.7 Resetting changed interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 901
16.5 Adjusting online and offline interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 902
16.6 Printing the interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 903
16.7 Comparing interconnections _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 904
16.8 Copying an interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 907
16.9 Exporting/Importing an interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 908
17 Function library _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 909

17.1 Function blocks _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 909
17.1.1 L_Absolut_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 911
17.1.2 L_AddSub_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 912
17.1.3 L_AnalogSwitch_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 913
17.1.4 L_AnalogSwitch_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 914
17.1.5 L_AnalogSwitch_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 915
17.1.6 L_And_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 916
17.1.7 L_And_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 917
17.1.8 L_And_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 918
17.1.9 L_Arithmetik_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 919
17.1.10 L_Arithmetik_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 920
17.1.11 L_Compare_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 921
17.1.11.1 Function 1: nIn1 = nIn2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 922
17.1.11.2 Function 2: nIn1 > nIn2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 923
17.1.11.3 Function 3: nIn1 < nIn2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 924
17.1.11.4 Function 4: |nIn1| = |nIn2| _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 925
17.1.11.5 Function 5: |nIn1| > |nIn2| _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 925
17.1.11.6 Function 6: |nIn1| < |nIn2| _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 925
17.1.12 L_Compare_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 926
17.1.13 L_Compare_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 927
17.1.14 L_DFlipFlop_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 928
17.1.15 L_DigitalDelay_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 930
17.1.16 L_DigitalLogic_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 932
17.1.17 L_DigitalLogic_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 934
17.1.18 L_GainOffset_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 936
17.1.19 L_GainOffset_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 937
17.1.20 L_GainOffset_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 938
17.1.21 L_Interpolator_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 939
17.1.21.1 Signal interpolation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 940
17.1.21.2 Signal monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 941
17.1.22 L_JogCtrlExtension_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 942
17.1.23 L_MPot_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 944
17.1.23.1 Activate & control motor potentiometer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 946
17.1.23.2 Deactivate motor potentiometer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 947
17.1.24 L_MulDiv_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 948
17.1.25 L_Negation_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 949
17.1.26 L_Not_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 950
17.1.27 L_Not_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 950
17.1.28 L_Not_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 951

Contents
________________________________________________________________
17.1.29
L_NSet_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 952
17.1.29.1 Main setpoint path _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 956
17.1.29.2 JOG setpoints _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 956
17.1.29.3 Setpoint inversion _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 957
17.1.29.4 Value range of the input signal _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 957
17.1.29.5 Skip frequency function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 957
17.1.29.6 Ramp function generator for the main setpoint _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 959
17.1.29.7 S-shaped ramp _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 961
17.1.29.8 Additional setpoint _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 962
17.1.29.9 Application example for the additional load function _ _ _ _ _ _ _ _ _ _ _ _ 962
17.1.30 L_OffsetGain_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 963
17.1.31 L_OffsetGain_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 964
17.1.32 L_OffsetGainP_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 965
17.1.33 L_OffsetGainP_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 966
17.1.34 L_OffsetGainP_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 967
17.1.35 L_Or_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 968
17.1.36 L_Or_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 969
17.1.37 L_Or_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 970
17.1.38 L_Or_4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 971
17.1.39 L_PCTRL_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 972
17.1.39.1 Control characteristic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 976
17.1.39.2 Ramp function generator _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 977
17.1.39.3 Operating range of the PID process controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 977
17.1.39.4 Evaluation of the output signal _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 978
17.1.39.5 Comparison function "Actual value = setpoint" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 978
17.1.39.6 Control functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 979
17.1.40 L_PT1_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 980
17.1.41 L_RLQ_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 981
17.1.42 L_SignalMonitor_a _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 982
17.1.43 L_SignalMonitor_b _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 983
17.1.44 L_Transient_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 984
17.1.44.1 Function 0: Evaluate rising signal edges _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 985
17.1.44.2 Function 1: Evaluate falling signal edges _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 985
17.1.44.3 Function 2: Evaluate rising and falling signal edges _ _ _ _ _ _ _ _ _ _ _ _ _ 986
17.1.45 L_Transient_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 987
17.1.46 L_Transient_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 988
17.1.47 L_Transient_4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 989
17.2 System blocks _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 990
17.2.1 LS_AnalogInput _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 992
17.2.2 LS_CANManagement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 992
17.2.3 LS_DataAccess _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 992
17.2.4 LS_DeviceMonitor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 992
17.2.5 LS_DigitalInput _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 992
17.2.6 LS_DigitalOutput _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 992
17.2.7 LS_DisFree _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 993
17.2.8 LS_DisFree_a _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 994
17.2.8.1 Display of internal process factors in application units _ _ _ _ _ _ _ _ _ _ _ 995
17.2.9 LS_DisFree_b _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 996
17.2.10 LS_DriveInterface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 996
17.2.11 LS_Keypad _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 997
17.2.12 LS_MotionControlKernel _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 998
17.2.13 LS_MotorInterface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 998

Contents
________________________________________________________________
17.2.14 LS_ParFix _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 999

17.2.15 LS_ParFree _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1000
17.2.16 LS_ParFree_a _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1001
17.2.17 LS_ParFree_b _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1002
17.2.18 LS_ParFree_p _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1003
17.2.19 LS_ParFree_v _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1004
17.2.20 LS_ParReadWrite_1-3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1005
17.2.20.1 Arithmetic function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1008
17.2.21 LS_PulseGenerator _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1009
17.2.22 LS_SetError_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1010
17.2.23 LS_SyncManagement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1010
17.2.24 LS_WriteParamList _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1010
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1011
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1029

1 About this documentation
1.1 Document history
________________________________________________________________
 Danger!
The controller is a source of danger which may lead to death or severe injury of persons.
To protect yourself and others against these dangers, observe the safety instructions
before switching on the controller.
Please read the safety instructions provided in the 8400 mounting instructions and in
the 8400 hardware manual. Both documents are supplied with the controller.
Target group
This documentation addresses to all persons who would like to parameterise, configure and
diagnose the 8400 StateLine with the Lenze engineering software »Engineer« and the X400 keypad.
Validity
The information in this documentation are valid for the following standard devices:
Product series Type designation from software version

8400 StateLine C E84AVSCxxxxx 01.00
Screenshots/application examples
All screenshots provided in this documentation are application examples. Depending on the
software version of the controller and the version of the installed »Engineer« software, the
screenshots in this documentation may differ from the representation in the »Engineer«.
 Tip!
Information and tools for Lenze products are provided in the download area at
http://www.lenze.com  Download
1.1 Document history
Version Description
12.0 06/2014 TD05 Extended by new functions for 8400 StateLine C V15.00.00
10.0 11/2012 TD05 Extended by new functions for 8400 StateLine C V13.00.00 and converted to
new layout.
9.1 09/2012 TD05 Error corrections & supplements
7.1 02/2011 TD05 Error corrections & supplements
7.0 11/2010 TD05 Extended by new functions for 8400 StateLine C V06.00.00 and V10.00.00

1.2 Conventions used
________________________________________________________________
1.2 Conventions used
This documentation uses the following conventions to distinguish between different types of
information:
Type of information Writing Examples/notes

Spelling of numbers
Decimal separator Point The decimal point is generally used.
Example: 1234.56
Hexadecimal number 0x For hexadecimal numbers, the "0x" prefix is used.
Example: 0x60F4
Binary number 0b For binary numbers, the "0b" prefix is used.
Example: 0b00010111
Text
Version info Blue text colour All information that only applies to a certain controller
software version or higher is identified accordingly in this
documentation.
Example: This function extension is available from software
version V3.0!
Program name »« The Lenze »Engineer« PC software ...
Window italics The Message window ... / The Options dialog box...
Variable identifier By setting bEnable to TRUE...
Control element bold The OK button... / The Copy command... / The Properties
tab... / The Name input field...
Sequence of menu If the execution of a function requires several commands,
commands the individual commands are separated by an arrow: Select
FileOpen to...
Shortcut <bold> Press <F1> to open the online help.
If a command requires a combination of keys, a "+" is placed
between the key symbols:
Use <Shift>+<ESC> to...
Hyperlink Underlined Optically highlighted reference to another topic. In this
documentation activated by mouse-click.
Icons
Page reference ( 16) Optically highlighted reference to another page. In this
documentation activated by mouse-click.
Step-by-step instructions Step-by-step instructions are indicated by a pictograph.

All information that only applies to a certain controller software version or higher is identified
accordingly in this documentation.

1.3 Terminology used
________________________________________________________________
Term Meaning
Engineering Tools Software solutions for simple engineering at all stages
»EASY Navigator« – Ensures easy operator guidance
• All practical Lenze engineering tools at a glance
• Tools can be selected quickly
• Clearly arranged, simplifying the engineering process from the start
»EASY Starter« – Simple tool for service technicians
• Especially developed for the commissioning and maintenance of Lenze
devices
• Graphical user interface with few buttons
• Simple online diagnostics, parameterisation and commissioning
• No risk of accidentally changing the application
• Ready applications can be loaded to the device
»Engineer« – Multi-device engineering
• For all products from our L-force portfolio
• Practice-oriented user interface
• Easy handling due to graphical user interfaces
• Suitable for all project stages (configuration, commissioning, production)
• Parameter setting and configuration
Application block Block for a technology application (e.g. actuating drive speed)
A technology application is a drive solution based on the experience and know-how of Lenze
in which function blocks interconnected to a signal flow form the basis for implementing
typical drive tasks.
ASM Abbreviation for asynchronous motor
CAN Abbreviation for Controller Area Network. CAN is an asynchronous, serial fieldbus system.
CANopen® is a communication protocol based on CAN. The Lenze system bus (CAN on board)
operates with a subset of this communication protocol.
CANopen® is a registered community trademark of the CAN user organisation CiA® (CAN in
Automation e. V.).
System bus "CAN on board"
Code Parameter used for controller parameterisation or monitoring.
The term is usually called "index".
Display code Parameter that displays the current status or value of an input/output of a system block.
Emergency brake The emergency brake serves to shutdown rotary or translatory masses in motion in
emergency situations. Emergency situations are exceptional situations that only occur
sporadically.
EtherCAT® is a real-time capable Ethernet system with maximum performanc.
EtherCAT® is a registered trademark and patented technology, licensed by the Beckhoff
Automation GmbH, Germany.
Ethernet POWERLINK is a real-time capable fieldbus system based on Ethernet. For user data
exchange, Ethernet POWERLINK specifies a communication protocol based on CANopen.
Ethernet POWERLINK is a patented technology licensed by the Ethernet POWERLINK
Standardization Group (EPSG), Germany.
EtherNet/IP™ (EtherNet Industrial Protocol) is a fieldbus system based on Ethernet which
uses the Common Industrial Protocol™ (CIP™) for data exchange.
EtherNet/IP™ and Common Industrial Protocol™ (CIP™) are trademarks and patented
technologies licensed by the user organisation ODVA (Open DeviceNet Vendor Association),
USA.
FB Editor Abbreviation for function block editor. Graphic interconnection tool which is available in the
»Engineer« for function block interconnections on the FB Editor.
Working with the FB Editor

________________________________________________________________
Term Meaning
Function block General designation of a function block for free interconnection in the FB Editor.
A function block (short: FB) can be compared with an integrated circuit that contains a
specific control logic and delivers one or several values when being executed. Example:
"L_Arithmetik_1" (FB for arithmetic operations)
Many function block are available several times (e.g. L_And_1, L_And_2 and L_And_3).
Function blocks
Holding brake The holding brake serves to statically hold e.g. a position during the downtimes of a
robot/travelling/synchronous/hoist drive.
INTERBUS was developed as sensor/actuator/bus system for transmitting process data.
Today, maintenance activities for the INTERBUS technologies are carried out by the user
organisation PROFIBUS & PROFINET International (PI).
Keypad The keypad is an alternative to the PC for the local operation, parameterisation, and
diagnostics in a simple manner.
LA Abbreviation for Lenze Application block
Example: "LA_NCtrl" (block for the "Actuating drive speed" application)
Lenze setting This setting is the default factory setting of the device.
LP Abbreviation for Lenze Port block
Example: "LP_CanIn1" (CAN1 port block)
LS Abbreviation for Lenze System block
Example: "LS_DigitalInput" (system block for digital input signals)
MCI Abbreviation for Motionbus Communication Interface (fieldbus interface)
The Inverter Drives 8400 can accommodate plug-in communication modules and can
therefore take part in the data transfer of an existing fieldbus system.
Fieldbus interface (MCI)
Port block Block for implementing the process data transfer via a fieldbus
PROFIBUS® (Process Field Bus) is fieldbus system used worldwide for automating machines
and production plants.
PROFIBUS® is a registered trademark and patented technology licensed by the user
PROFINET® (Process Field Network) is a real-time capable fieldbus system based on Ethernet.
PROFINET® is a registered trademark and patented technology licensed by the user
PSM Abbreviation for permanently excited synchronous motor
QSP Abbreviation for quick stop
SC Abbreviation for Servo Control
Service brake The service brake serves to shutdown rotary or translatory masses in motion in a controlled
manner. The energy to be dissipated in this process is produced in the form of friction
energy. Unlike emergency braking, this process is a regular and recurring operating mode.
SLPSM Abbreviation for sensorless control of synchronous motors
SLVC Abbreviation for SensorLess Vector Control
Subcode If a code contains several parameters, these are stored in "subcodes".
This Manual uses a slash "/" as a separator between code and subcode (e.g. "C00118/3").
The term is usually called "subindex".
System block System blocks provide interfaces to basic functions, to "free codes" and to the hardware of
the controller in the FB editor of the »Engineer« (e.g. to the digital inputs). Each system block
is only available once.
System blocks
USB diagnostic The USB diagnostic adapter is used for the operation, parameterisation, and diagnostics of
adapter the controller. Data are exchanged between the PC (USB connection) and the controller
(diagnostic interface on the front) via the diagnostic adapter. Order designation: E94AZCUS
VFCplus Abbreviation for Voltage Frequency Control

1.4 Definition of the notes used
________________________________________________________________
1.4 Definition of the notes used
The following signal words and symbols are used in this documentation to indicate dangers and
important information:
Safety instructions
Layout of the safety instructions:
 Pictograph and signal word!

(characterise the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage
 Reference to an imminent danger that may result in death or serious personal injury
if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of danger
 Reference to an imminent danger that may result in death or serious personal injury
if the corresponding measures are not taken.
Stop! Danger of property damage
 Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Application notes
Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation

Tip! Useful tip for easy handling


2 Introduction: Parameterising the controller
________________________________________________________________

Being a component of a machine which includes a speed-variable drive system, the controller needs
to be adjusted to its drive task. The controller is adjusted by changing parameters which are saved
in the memory module. The parameters can be accessed by keypad, by the »EASY Starter« or by the
»Engineer«. Access is also possible by a master control via fieldbus communication. For this purpose,
the "CAN on board" CAN interface and the MCI interface for using a communication module (e.g.
PROFIBUS) are available.
 Danger!
In general, changing a parameter causes an immediate response in the controller!
An enabled controller can cause an unwanted behaviour at the motor shaft! For
instance, setpoint sources can change over abruptly (e.g. when the signal source is
configured for the main setpoint).
Certain device commands or settings which may cause critical states of drive behaviour
constitute exceptions. Such parameter changes are only possible if the controller is
inhibited. Otherwise, a corresponding error message will be issued.

________________________________________________________________
L-force Engineer
L-force EASY Starter
Keypad
Parameterisation Fieldbus
0 2
Signal 1 ... Signal
inputs Switch-off positioning outputs
Actuating drive speed
Setpoint Motion
M generator Control
Kernel
ç è
n
Process t
controller
Device Motor M
control control
 Signal inputs for control and setpoint signals

 Signal flow of the integrated technology application (see the following subchapter)
 Signal outputs for status and actual value signals
[2-1] Adaptation of the drive solution via parameter setting

2.1 Integrated technology applications
________________________________________________________________
The following technology applications integrated in the drive controller 8400 StateLine provide the
main signal flow for the implementation of a general or a special drive solution:
Technology application "Actuating drive speed"

This preset technology application serves to solve speed-controlled drive tasks, e.g.
conveyor drives (interconnected), extruders, test benches, vibrators, travelling drives,
presses, machining systems, metering units.
technology application "Actuating drive speed (AC Drive Profile)"

This technology application available from version 13.00.00 provides a speed and
torque control by means of "AC Drive Profile". The fieldbuses EtherNet/IP™ and
system bus (CANopen) are supported.
"Switch-off positioning" technology application

This technology application available from version 04.00.00 is used to solve speed-
controlled drive tasks which require a pre-switch off or stopping at certain positions,
e.g. roller conveyors and conveying belts. The pre-switch off is implemented by
connecting switch-off sensors.
 Note!
Please note that the "StateLine", "HighLine" and "TopLine" device types differ with regard
to the number, functional range, and flexibility of the technology applications offered.
 Detailed information on each technology application can be found in the main chapter
"Technology applications". ( 296)

________________________________________________________________
2.1.1 Purpose of the technology applications
The stepped Inverter Drives 8400 series provides solutions for simple to complex applications –
depending on the user's experience and knowledge about the handling of drives and drive tasks.
On the one hand, a great scope of standard drive tasks for frequency inverters is covered by the
technology applications offered by Lenze, and on the other hand, the user is relieved from time-
consuming programming activities. In practice, some drive tasks are alike so that minor
modifications of the corresponding technology applications lead to quick results.
Other important features of technology applications are:
• Direct implementation of drive tasks without recreating a function block interconnection inside
the device
• Operation via keypad and/or operation via convenient operator dialogs in the «Engineer».
• Commissioning via few operating and diagnosing parameters (local keypad operation).
• Achieving a transparency as high as possible via the integrated functionality of the device by
representing signal flow diagrams.
• Provision of a basic functionality suitable and often sufficient for many applications.
2.1.2 Application cases for a technology application
You should use a technology application if

• the task can be solved completely or to a great extent by the basic functionality of the
technology application.
• the end customer does not want to create the comprehensive core functions of the
corresponding technology on his own.
• the creation time for a project is to be reduced by using the ready-made technology application
• the end customer wants to build upon the know-how of Lenze.
 Tip!
If the end customer of the machine does not want to use ready-made Lenze functions, it is
also possible to implement individual drive solutions with the "StateLine C", "HighLine C"
and "TopLine C" versions in the form of "free interconnections". (In case of "StateLine C2,
free interconnection is only possible from version 12.00.00 and »Engineer« V2.17.)
Here, a technology application can be used as starting basis, which has to be adapted to the
requirement by a change or extension via function block editor (see the following chapter).

________________________________________________________________
2.1.3 Technology application = function block interconnection
In case of the 8400 device version, each technology application is connected to a "function block
interconnection" ("FB interconnection"). This FB interconnections serve to implement signal
interconnections. Various FBs are available for digital signal processing, signal conversion and logic
modules.
For special drive tasks it has proved of value to use the integrated technology applications as a basis
for modifications or extensions of the available FB interconnections.
I/O level & application level

The interconnection of the interfaces is shown in the I/O level of the function block editor according
to the selected control mode. In the "deeper" application level, the main signal flow is realised in the
form of an interconnection of various function and system blocks.
For the device versions "StateLine C", "HighLine C" and "TopLine C" the following applies:
• The preconfigured signal links can be reconfigured in the I/O level if required.
• Moreover, applications integrated in the controller can be reconfigured in the application level
and extended by individual functions.
• Moreover, experienced users are offered the opportunity to implement their own drive
solutions independent of the predefined technology applications by using so-called "free
interconnections". (In case of "StateLine C", free interconnection is only possible from version
12.00.00 and »Engineer« V2.17.)
Motion Control Kernel

Important basic (drive) functions as well as further basic functionalities are implemented in the
firmware of the drive controller in the so-called Motion Control Kernel (MCK) which can be accessed
by the active technology application via defined internal interfaces. By this means the expensive
creation of single function block interconnections is omitted so that the expenditure and the
complexity for the realisation of standard functions is minimised.
The Motion Control Kernel is integrated in the main setpoint path and, depending on the set
operating mode, it creates the required control and setpoint signals for the motor control and the
drive interface.
 More detailed information:

• A detailed description of the basic functions implemented in the Motion Control
Kernel can be found in the main chapter "Basic drive functions (MCK)". ( 390)
• Detailed information on the creation or change of interconnections by means of the
function block editor can be found in the main chapter "Working with the FB Editor".
( 857)
• All available function and system blocks are described in the main chapter "Function
library". ( 909)

2.2 Selection of the appropriate commissioning tool
________________________________________________________________
There are several possibilities for commissioning the 8400 StateLine controller:
Commissioning via keypad X400 (or diagnosis terminal X400)

The keypad is an alternative to the PC for the local operation, parameterisation, and
diagnostics in a simple manner. The keypad is especially suited for test and
demonstration purposes and for the case that only few parameters have to be
adapted.
Commissioning using PC and »EASY Starter«

The »EASY Starter« is a Lenze tool for simple online diagnostics, parameterisation and
commissioning of the controller.
Commissioning using PC and »Engineer«

The »Engineer« is a Lenze engineering software for parameter setting across all
devices, configuring and diagnosing individual components (as for instance
controllers, industrial PCs, motors, I/O systems) and machine control systems.
 Tip!
The engineering tools »EASY Starter« and »Engineer StateLevel« are provided free of charge
in the internet:
http://www.lenze.com  Download  Software Downloads
For communication between PC and controller, the USB diagnostic adapter can be used for
instance (see the following subchapter).

________________________________________________________________
2.2.1 Overview: Accessories for commissioning
Version Features Product key

Keypad X400 Quick access to parameters and operating data EZAEBK1001
• Supports hot plugging
• Graphic display with plain texts
• Backlighting
• Easy user guidance
• 4 navigation keys, 2 context-sensitive keys
• Adjustable RUN/STOP function
• Can be used for L-force Inverter Drives 8400 and Servo
Drives 9400
Diagnosis terminal X400 Keypad X400 in a robust housing, also suitable for EZAEBK2001
installation into the control cabinet door.
• Graphic display with plain texts
• Backlighting
• Easy user guidance
• 4 navigation keys, 2 context-sensitive keys
• Adjustable RUN/STOP function
• Incl. 2.5 m cable
• Enclosure IP20; in case of front installation in control
cabinet IP65
• Can be used for L-force Inverter Drives 8400 and Servo
Drives 9400
USB diagnostic adapter For electrical isolation of your PC and the controller. E94AZCUS
• Diagnostic LED for data transfer display
• plug and play
• Input-side voltage supply via USB connection from PC
• Output-side voltage supply via the diagnostic interface of
the controller
• Connecting cables can be selected in various lengths:
Connecting cable for 2.5 m length EWL0070

USB diagnostic adapter
5 m length EWL0071
10 m length EWL0072

2.3 General notes on parameters
________________________________________________________________
All parameters for controller parameterising or monitoring are saved as so-called "codes".
• The codes are numbered and indicated by the prefix "C" before the code, e.g. "C00002".
• Moreover, each code has a name and specific attributes, as for example access type (reading,
writing), data type, limit values and default setting ("Lenze setting").
• For the sake of clarity, some codes contain "subcodes" for saving parameters. This Manual uses
a slash "/" as a separator between code and subcode, e.g. C00118/3".
• According to their functionality, the parameters are divided into three groups:
• Setting parameters: For specifying setpoints and for setting device / monitoring functions.
• Configuration parameters: For configuring signal connections and terminal assignments.
• Diagnostic/display parameters: For displaying device-internal process factors, current actual
values and status messages. These are read-only parameters.

________________________________________________________________
2.3.1 Changing the parameterisation with the keypad
The keypad is simply plugged on the diagnostic

interface X6 ("DIAG") at the front of the standard
device.
Plugging and unplugging the keypad is possible
during operation.
Keypad display and control elements
/&'GLVSOD\
+HDGOLQH
7ULSOHOLQHGLVSOD\
'HYLFHVWDWH
&XUUHQWIXQFWLRQ &XUUHQWIXQFWLRQ
OHIWIXQFWLRQNH\ ULJKWIXQFWLRQNH\
,QPDQXDOFRQWUROPRGH WXST VYR ,QPDQXDOFRQWUROPRGH

6WRSPRWRU 6WDUWPRWRU
LCD display
Headline
In the menu level: Menu name
In the parameter level: Parameter name
Three-part display
In the menu level: List of available menus
In the parameter level: Code/subcode and setting or actual value
Device status
 Controller is switched on  Pulse inhibit active
 Controller is enabled  System fault active
 Controller is inhibited  "Fault" device status is active
 Quick stop active  "Trouble" device status is active
 Current limit exceeded  "TroubleQSP" device status is active
 Speed controller 1 in the limitation  A warning is indicated

________________________________________________________________
LCD display
Function - left function key Function - right function key
 Change parameter setting  Accept change in the controller
(change to editing mode) (no saving with mains failure protection  )
 Back to main menu  Abort (discard change)
 Parameter can only be changed when the controller is inhibited
 Save all parameter settings in the memory module safe against mains failure
Control elements
 Execute the function assigned to the function key (see LCD display)
 Execute the stop function set in C00469 (Lenze setting: Inhibit controller)
 Deactivate stop function again (Lenze setting: Enable controller again)
 In the menu level: Select menu/submenu

In the parameter level: Select parameter
 In the editing mode: Change marked digits or select list entry
 In the menu level: Select submenu/change to parameter level
In the editing mode: Cursor to the right
 In the menu level: One menu level higher (if available)
In the parameter level: Back to the menu level
In the editing mode: Cursor to the left
Menu structure
In the keypad, the parameters are classified into various menus and submenus.
• The USER menu includes a selection of frequently used parameters.
• The Code list contains all parameters.
• The Go to param function enables you to reach the corresponding parameter directly.
• The Logbook logs all errors and their chronological history.
• The Diagnostics menu contains diagnostic/display parameters for displaying device-internal
process factors, current actual values and status messages.
Userlevel
From version 12.00.00 onwards, the extent of menus, submenus an codes shown in the keypad can
be adapted by selecting the "Userlevel" in C00001/1:
• Userlevel Standard (Lenze setting): Only the most important menus and codes are shown in the
keypad.
• Userlevel Expert: All menus and codes are shown in the keypad.
• Userlevel Service: For service purposes only (Lenze service).
The the Userlevel has been changed, the menus are restructured in the keypad according to the
selected Userlevel. The parameters of a plugged in communication module are always displayed
completely independent of the set Userlevel.

________________________________________________________________
General operation
1. Use the / navigation keys to select the

Par1 8400 StateLine C
1. desired menu.
USER - Menu
Code list
• Use the / navigation keys to reach a
Go To Param higher/lower menu level.
SAVE • Use the  function key to return to the
main menu.
Load Lenze setting 2. 2. Use the / navigation keys to select the
C00002/001
parameter to be set within a submenu.
Off / Finished 3. In order to select another subcode in case of a
EDIT parameter with subcodes:
• Press the navigation key  to change tot he
Fixed setpoint 1 editing mode for the subcode.
C00039/001 3. • Use the navigation keys to set the desired
subcode.
40.00 %
4. Use the  function key to switch over to the
EDIT
editing mode.
Fixed setpoint 2 5. Use the navigation keys to set the desired value.
C00039/002
6. Use the  function key to accept the change
60.00 % and to leave the editing mode.
EDIT
• Use the  function key to leave the editing
4. mode without accepting the change.
Fixed setpoint 2
C00039/002 5.
60.00 %
ESC OK
6.
[2-2] Example: Changing parameters with the keypad
Multilingualism
All texts displayed in the keypad are in English.
From version 11.00.00 onwards, the most important menus as well as diagnostic and configuration
parameters can are also available in German and French. To set a different language, select the
Language selection menu item in the main menu of the keypad.
• The multilingual texts are stored in the

Language
controller and do not have to be loaded into the
English device.
Deutsch
Français • For reasons of disc space, only the most
ESC OK important menus and parameters as well as the
error messages are available in several
languages.

________________________________________________________________
2.3.2 Change parameter settings with PC and Lenze software
The USB diagnostic adapter, for instance, can be used for the communication between the PC
(including the »Engineer« software) and the controller, see the following illustration. The USB
diagnostic adapter is the connection between the PC (free USB port) and the controller (X6
diagnostic interface).
[2-3] Exemplary constellation for parameterising the controller
The All parameters tab in the »EASY Starter« and the »Engineer« provides a quick access to all
parameters of the controller.
The given categories and subcategories correspond 1:1 to the menus and submenus of the keypad:
 Category
 Subcategories
[2-4] All parameters tab in the »Engineer«
Moreover, the »Engineer« provides a commissioning interface on the Application parameters tab
where you can commission the application in a few steps.
 Detailed information on how to handle the »Engineer« can be found in the integrated
online help that you can call with the [F1] function key.

________________________________________________________________
2.3.3 Save parameter settings in the memory module safe against mains failure
Controller parameter changes via the EASY Starter /»Engineer«, the keypad, or a master control via
fieldbus communication will be lost after mains switching of the controller unless the settings have
been explicitly saved to the integrated memory module.
General information
• In the delivery state, the Lenze setting of the parameters has been saved to the integrated
memory module. These parameters are
• the parameters of the controller
• the parameters of the communication module plugged into the MCI interface
• the parameters of the possibly existing safety module (device variant)
• When the device or the external 24 V voltage supply is switched on, all parameters are
automatically loaded from the memory module into the main memory of the controller.
• Full functionality of the memory module is even provided if the power supply has been switched
off and only the electronic components of the controller are externally supplied by a 24 V DC
voltage, e.g. via the X4/24E terminal.
• The memory module can be preconfigured with customised data.
• The memory module is available as a spare part - without any data.
During operation
• Parameter sets can be saved and loaded manually.
• Using the keypad, you can press function key  to save the parameter settings.
• The »EASY Starter«/»Engineer« serves to execute the saving via the icon in the toolbar or via
the device command "Save all parameter sets" (C00002/11 = "1: On / start").
• The storage process may take a couple of seconds. After the device command has been called
in C00002/11, dynamic status information ("Work in progress 20%"  "Work in progress
40%"  "Work in progress 60%", etc.) is returned.
 Note!
In order to prevent data inconsistencies during the saving process:
• Do not switch off the supply voltage!
• Do not remove the memory module from the device!
Automatic saving of changed parameter settings is explicitly not supported because this
significantly reduces the service life of the memory module.

________________________________________________________________
Unplugging the memory module

The memory module is hot-pluggable. A removal during operation causes a warning "PS01: No
memory module" and should thus be avoided. The behaviour of the device, however, remains
unchanged as all parameters are available in the RAM memory after the device has been started.
The device can also be parameterised when the memory module has been unplugged. In this case,
the parameter sets cannot be saved in the memory module.
Replacing the controller

In the event of a device replacement, the entire parameter data of an axis can be copied to the
replacement device by "taking along" the memory module, so that additional PC or keypad
operations are not required.
When replacing the controller, the versions of the old device and the new device are of importance.
Before data are actually transferred, the versions are internally checked. Basically, the following
applies:
• Parameter sets of old devices can only be

processed on new devices with the same or
Version Version higher device version (downward compatibility).
x.x ³x.x • Parameter sets of devices with versions that have
less functions (e.g. 8400 StateLine) can be loaded
into and executed on devices with versions that
have more functions (e.g. 8400 HighLine). The
reverse is not possible!
• If the parameter set saved in the memory module
is not compatible with the standard device, the
"PS03: Par.set device invalid" is output.
StateLine HighLine
TopLine

________________________________________________________________
2.3.4 User menu for quick access to frequently used parameters
When a system is installed, parameters must be changed time and again until the system runs
satisfactorily. The user menu of the controller contains a selection of frequently used parameters to
be able to access and change these parameters quickly:
Parameter Name Lenze setting

C00051 MCTRL: Actual speed value -
C00053 DC-bus voltage -
C00054 Motor current -
C00061 Heatsink temperature -
C00137 Device status -
C00166/3 Mess. - status det. error -
C00011 Appl.: Reference speed 1500 rpm
C00039/1 Fixed setpoint 1 40.00 %
C00012 Acceleration time - main setpoint 2.000 s
C00013 Deceleration time - main setpoint 2.000 s
C00015 VFC: V/f base frequency 50 Hz
C00016 VFC: Vmin boost 1.60 %
C00022 Imax in motor mode depending on the device power
C00120 Setting of motor overload (I2xt) 100.00 %
C00087 Rated motor speed 1460 rpm
C00099 Firmware version -
C00200 Firmware product type -
C00105 Decel. time - quick stop 2.000 s
C00173 Mains voltage 0: "3ph 400V / 1ph 230V"
Highlighted in grey = display parameter
 Tip!
The user menu can be freely configured in C00517.
In the »Engineer«, you can configure the user menu comfortably via the User menu tab (see
»Engineer« online help).
The password protection serves to restrict the access to parameters of the user menu. Then,
all other parameters cannot be accessed without knowing the password and are thus
protected against unwanted changes.

2.4 Device access protection
________________________________________________________________
This function extension is available from version 06.00.00!
Various tasks can be executed via the functions of the device access protection:
• Password protection
• Only authorised persons (with password knowledge) may read/change all parameters of the
controller.
• Non-authorised persons (without password knowledge) can only access the max. 32
parameters of the user menu.
• Device personalisation
• Only controller personalised with a specific binding ID and memory modules can be used in
the system.
 Note!
If password protection/device personalisation is used:
• Inform the end customer that Lenze can only provide restricted service for the devices
with access protection.
• It is not possible for Lenze to modify a replacement device via special accesses in such
a way that it cooperates with a personalised memory module.
• The keypad does not support the alpha-numeric entry of a password, thus the keypad
cannot be used for entry.

________________________________________________________________
2.4.1 Password protection
When the password protection is active, only write/read access to the parameters of the user menu
is possible.
• From version 15.00.00, the password protection can be configured individually for every single
communication channel. Individual password protection for single communication channels
( 38)
• The following describes how to set/check/delete a password by means of the parameters

relevant for these functions.
• From »Engineer« V2.14 onwards. these functions can also be executed via dialog (menu
command Online  Set/check/delete password).
 Note!
The password protection serves to only limit the access to parameters of the standard
device. The access to parameters of a plugged-in communication module is not
concerned.
Short overview of the relevant parameters for password protection:
Parameter Info Lenze setting

C00505/3 Password
• The password must have a length of 4 ... 16 characters.
• The password may consist of any character. However, this is not
sensible. Recommended characters are: lower case letters (a - z),
upper case letters (A - Z) and digits (0 - 9).
Note:
After the execution of one of the device commands listed below, this
parameter returns the current password status:
off No password is set, password protection is not active
(Lenze delivery status).
on Password is set, password protection is active.
• This status is also displayed if checking/deleting
the password has not been successful due to an
invalid entry.
ok Password is set, password protection is not active.
• The password protection is temporarily
deactivated.
Device commands
Before the following device commands are executed, enter the corresponding password in C00505/3.
C00002/31 Set password 0: Off / ready
Activate the password protection
C00002/32 Check password 0: Off / ready
Temporarily deactivate the password protection
C00002/33 Delete password 0: Off / ready
Deactivate password protection/change password

________________________________________________________________

Status displays
C00003 Status of the last device command -
C00507/1 Password protection - all communication channels -
• Bit coded display of the active protective functions:
Bit 0 Only access to user menu
Bit 1 Parameter write protection
Bit 2 Parameter read protection
Bit 3 ... 14 Reserved
Bit 15 Memory module binding on
Note:
As the password protection can be configured individually for each
single communication channel from version 15.00.00 bit 1 and bit 2
indicate the active protection always with regard to the
communication channel used.
Activate the password protection

The password protection is activated by setting a password.
 How to set a password:

1. Enter the desired password in C00505/3.
• The password must have a length of 4 ... 16 characters.
• The password may consist of any character. However, this is not sensible.
Recommended characters are: lower case letters (a - z), upper case letters (A - Z) and
digits (0 - 9).
2. Execute "Set password" device command: C00002/31 = "1: On / start"
• After successful execution, password status ON is displayed in C00505/3 and password
protection takes immediate effect.
Temporarily deactivate the password protection

The "Check password" device command serves to temporarily deactivate the password protection
in order to execute password-protected functions.
• The password protection remains deactivated until
• an invalid password will be entered and checked
- or -
• the external 24-V supply of the control electronics is switched off (< 19 V).
 How to temporarily deactivate the active password protection:

1. Enter the set password in C00505/3.
2. Execute "Check password" device command C00002/32 = "1: On / start"
• After a successful check, password status OK is displayed in C00505/3.

________________________________________________________________
Deactivate password protection/change password

The password protection is simply activated by deleting the set password. If you want to change the
set password, first delete the set password as well. Then set the new password.
 How to delete the set password:

1. Enter the set password in C00505/3.
2. Execute "Delete password" device command C00002/33 = "1: On / start"
• After a successful deletion, password status OFF is displayed in C00505/3.
2.4.2 Individual password protection for single communication channels
The 8400 StateLine can be parameterised via the following "communication channels":
• Internally via system blocks (LS_ParReadWrite1-6 and LS_WriteParamList)
• externally via
• Diagnostics interface X6 ("DIAG")
• CANopen interface X1 ("CAN on board")
• Fieldbus interface (MCI)
As in some applications, only certain communication channels have to be protected, the parameters
described in the following serve to configure individual access restrictions for each communication
channel.
In the Lenze setting, all access restrictions are active for all communication channels when the
password is set. This corresponds to the previous behaviour with a set password, i.e. only one
write/read access to the parameters of the user menu is possible.
 Note!
The configuration can only be changed if no password has been set!
• This means that even if the password has been deactivated temporarily by the "check
password" device command, the configuration cannot be changed.
• As long as a password is set, the "Load Lenze setting" device command does not
change the configuration either.
The password protection is activated by setting a password.
Activate the password protection ( 37)
Deactivate password protection/change password ( 38)

________________________________________________________________
Short overview of the relevant parameters for configuring the password protection:
When the password is set, the respective restriction is active if the corresponding bit has been set:

C00506/1 PW protection internal config 0x0007
• The menus in the keypad are reduced.
• Only the user menu can be used to change
parameters.
• System blocks cannot be used to write into
write/read parameters.
• System blocks cannot be used to read write/read
parameters.
C00508/1 PW protection config. X6 (DIAG) 0x0006
Bit 0 Reserved
• The diagnostics interface X6 cannot be used to
write into write/read parameters.
• The diagnostics interface X6 cannot be used to
read write/read parameters.
C00509/1 PW protection config. X1 (CAN) 0x0006
Bit 0 Reserved
• The CANopen interface X1 cannot be used to
• The CANopen interface X1 cannot be used to read
C00510/1 PW protection config. MCI 0x0006
Bit 0 Reserved
• The fieldbus interface (MCI) cannot be used to
• The fieldbus interface (MCI) cannot be used to
read write/read parameters.
The parameter set must be saved to the device safe against mains failure to prevent password
protection configured in the device from getting lost due to mains switching.
Save parameter settings in the memory module safe against mains failure ( 32)

________________________________________________________________
2.4.3 Device personalisation
The controller and the memory module are married via the device personalisation by means of a
binding ID. When the device personalisation is active, all write/read actions between controller and
memory module are only executed if both components have the same binding ID.
Lenze delivery status: Procedure carried out by the Impermissible replacement by the
customer: end user:
ABC ---
--- --- ABC ABC
123 ABC
No binding ID is set. Customer sets binding ID for device When device personalisation is
personalisation. active:
The replacement of the controller or
memory module causes an error
message if the binding ID is incorrect
or not available.
If, for instance, a parameter set has been loaded from the memory module with an active device
personalisation, saving of this parameter set on another memory module with a different or non-
existent binding ID is not possible.
• Thus, copying the parameter set from a personalised memory module to a non-personalised
memory module is not possible!
Two types of checks are distinguished:
• If a differing binding ID is detected when the controller is switched on (during device
initialisation):
• the "Fault" error response is returned.
• The "PS10: Invalid memory module binding" error message is entered into the logbook.
• If a differing binding ID is detected while a device command for loading/saving the parameter
set is executed:
• Loading/saving is not executed.
• A corresponding status for the device command is output in C00003.
Short overview of the relevant parameters for device personalisation:

C00505/2 Binding ID
• The binding ID must have a length of 4 ... 16 characters.
• The binding ID may consist of any character. However, this is not
sensible. Recommended characters are: lower case letters (a - z),
upper case letters (A - Z) and digits (0 - 9).
Note:
After the execution of one of the device commands listed below, this
parameter returns the current binding ID status:
off No binding ID is set.
on Binding ID is set.

________________________________________________________________

Device commands
Before the following device commands are executed, enter the corresponding binding ID in C00505/2.
C00002/29 Set binding ID 0: Off / ready
Activate device personalisation
C00002/30 Delete binding ID 0: Off / ready
Deactivate device personalisation/change binding ID
Status displays
C00003 Status of the last device command -
C00507/1 Password protection - all communication channels -
• Bit coded display of the active protective functions:
Bit 16 Memory module binding on
Activate device personalisation

The device personalisation is activated by setting a binding ID.
 How to set the binding ID:

1. Enter the desired binding ID in C00505/2.
• The binding ID must have a length of 4 ... 16 characters.
• The binding ID may consist of any character. However, this is not sensible.
Recommended characters are: lower case letters (a - z), upper case letters (A - Z) and
digits (0 - 9).
2. Execute "Set binding ID" device command C00002/29 = "1: On / start"
• After successful execution, status ON is displayed in C00505/2.
Deactivate device personalisation/change binding ID

The device personalisation is simply deactivated by deleting the set binding ID. If you want to
change the set binding ID, first delete the set binding ID as well. Then set the new binding ID.
 How to delete the binding ID:

1. Enter the set binding ID in C00505/2.
• If controller and memory module do not have the same binding ID, enter the binding ID
of the memory module to delete the binding ID of both components.
2. Execute "Delete binding ID" device command C00002/30 = "1: On / start"
• After a successful deletion, status OFF is displayed in C00505/2.

________________________________________________________________
2.4.4 Unlocking the controller with a MasterPin
Every controller has an individual master password called "MasterPin". By entering the MasterPin, a
controller inhibited by the password mechanisms can be reset to the delivery status.
 Stop!
When the MasterPin is used, the parameter set is reset to the Lenze setting both in the
controller and in the memory module!
• This results in a permanent loss of the customised parameterisation that must be
recreated!
• A reset to the Lenze setting can result in unforeseen level changes at the I/O terminals
(e.g. brake control)!
 How to restore the delivery status:

1. Inhibit the controller if it is enabled, e.g. via the C00002/16 device command.
2. Enter the MasterPin in C00505/1.
• The MasterPin comprises the last 6 digits of the serial number of the memory module.
3. Execute "Check MasterPin" device command C00002/28 = "1: On / start"

2.5 Device identification
________________________________________________________________
2.5 Device identification
For device identification, any device name (e.g. wheel drive) with max 32 characters can be set in
C00199/1 for the controller and saved in the memory module with mains failure protection.
2.5.1 Automatic acceptance of the device name in the »Engineer«
If a device name is stored in C00199/1 and the controller is added to the project in the »Engineer«
via the Einfügen  Insert device detected online... function, the device name stored in
("8400 StateLine") C00199/1 (here: wheel drive) is used as device name instead of the type:
This mechanism also functions in reverse direction:

If you rename the controller in the project view via <F2>, you will be asked afterwards if you want to
take over the changed name in C00199/1:
2.5.2 Extended item designation
In C00199/2...5, four texts à max. 32 characters can be set for item designation and saved in the
memory module safe against mains failure. These additional subcodes are not dependent on the
previously described text acceptance mechanism in the »Engineer« for the device name (C00199/1).

3 Commissioning
________________________________________________________________
3 Commissioning
 Danger!
Unexpected motor movements can occur
Under certain conditions the motor may rotate after mains connection.
Possible consequences:
• Persons in the vicinity of the machine or plant risk getting hurt.
• Unexpected starting action may damage the machine or plant.
Protective measures:
• Commissioning with external 24 V supply and without mains voltage. In this case, the
controller can only be parameterised and diagnosed during commissioning.
• Ensure that setpoints are not active.
 Tip!
• Information on some of the operating statuses can quickly be obtained via the LED
status displays on the front of the controller. ( 421)
• Check firmware: Particularly with regard to the use of older controllers (e.g. if the
customer is using one from stock) it makes sense to check the software (firmware)
version. The software version of the controller can be seen on the nameplate in the "SW"
line and can be determined by reading out code C00099.
• Restore delivery status: Set code C00002/1 to "1: On / start" to reset all parameter
settings of the device to the Lenze setting. This leaves you with a defined device
configuration. Load Lenze setting ( 77)
 The following chapters describe the commissioning of the available technology

applications with the »Engineer«.
Information on how to commission using the keypad (or diagnosis terminal) can be
found in the 8400 hardware manual. The hardware manual has been stored in electronic
form on the data carrier supplied with the 8400 controller.

3 Commissioning
3.1 Safety instructions with regard to commissioning
________________________________________________________________
3.1 Safety instructions with regard to commissioning
General safety instructions

In order to prevent injury to persons or damage to material assets
• check before connecting the mains voltage
• the wiring for completeness, short circuit, and earth fault
• the "emergency stop" function of the entire system
• that the motor circuit configuration (star/delta) is adapted to the output voltage of the
controller
• the in-phase connection of the motor
• check the setting of the most important drive parameters before enabling the controller:
• the V/f rated frequency must be adapted to the motor circuit configuration!
• the drive parameters relevant for your application must be set correctly!
• the configuration of the I/O terminals must be adapted to the wiring!
• ensure that there are no active speed setpoints before enabling the controller.
Safety instructions with regard to motor operation
 Danger!
• For thermal reasons, continuous operation of self-ventilated motors at a low field
frequency and rated motor current is not permissible!
• In the Lenze setting, the Motor temperature monitoring (PTC) is activated. ( 242)
• Activate the Brake resistor monitoring (I2xt) if necessary. ( 243)
• C00015 must be used to select 87 Hz operation if a delta-connected asynchronous
motor (nameplate data: 400 V  /230 V ) is to be operated in conjunction with a
drive controller for a mains voltage of 400 V.

3 Commissioning
3.2 Notes on motor control
________________________________________________________________
3.2 Notes on motor control
In the Lenze setting, the V/f characteristic control (VFCplus) as motor control is set in C00006 with
a linear characteristic.
• V/f characteristic control (VFCplus) is a motor control mode for classic frequency inverter
applications on the basis of a simple and robust control procedure for the operation of machines
with a linear or quadratic load torque characteristic (e.g. fans).
• The presettings of the parameters ensure that the controller is immediately ready for operation
and the motor works adequately without further parameterisation if a controller and a 50 Hz
asynchronous machine with matching performances are assigned to each other.
 Note!
Check the nameplate data against the motor data set in the controller. Further
information is provided in the chapter "Motor selection/Motor data". ( 105)
Recommendations for the following application cases:

• If the controller and motor differ greatly in terms of performance:
Set the Imax limit (in motor mode) in C00022 to 2x rated motor current.
• If a high starting torque is required:
When the motor is idling, set a value for Vmin boost in C00016 which ensures that the rated
motor current flows at a field frequency of f = 3 Hz (display in C00058).
• For noise optimisation:
In C00018, set a switching frequency of "16 kHz var./drive-opt.".
• If a high torque must be provided at small speeds without feedback:
Select "Sensorless vector control (SLVC) as motor control mode in C00006.
Related topics:
 Motor control (MCTRL) ( 104)

3 Commissioning
3.3 Preconditions for commissioning with the »Engineer«
________________________________________________________________
3.3 Preconditions for commissioning with the »Engineer«
For commissioning, you need

• a PC that satisfies the following requirements:
• processor with 1.4 GHz or higher
• at least 512 MB RAM and 650 MB free hard disc space
• Microsoft® Windows® 2000 operating system (from service pack 2 onwards) or
Windows® XP
• the Lenze »Engineer« PC software
• a connection to the controller, e.g. via a USB diagnostic adapter:
• connect the USB diagnostic adapter to the X6 diagnostic interface.
• establish a connection between the USB diagnostic adapter and the PC via a free USB port.
 Tip!
How to obtain/update the »Engineer« software:
• Download from the internet: The full version of the »Engineer StateLevel« is provided
free of charge in the internet:
http://www.Lenze.com  Download  Software downloads
• Requesting the CDYou can also request the »Engineer« separately on CD free of charge
at your Lenze representative. See the "About Lenze" area on our homepage for e.g. the
corresponding German address.

3 Commissioning
3.4 Trouble-shooting during commissioning
________________________________________________________________
3.4 Trouble-shooting during commissioning
When the »Engineer« is used, trouble during commissioning can be detected and eliminated
conveniently. Proceed as follows:
• Check whether error messages appear in the »Engineer«.
• On the Diagnostics tab, relevant actual states of the controller and pending error messages
are displayed in a well-arranged visualisation.
• Check the input terminals for their corresponding setpoints.
• The Terminal assignment tab displays the current input/output signals.
• Check the signal flow of the application.
• For this purpose, click the Signal flow button on the Application parameter tab. The displayed
signal flow shows active setpoints and their further processing.
Related topics:
Diagnostics & error management ( 420)
LED status displays ( 421)
Error messages of the operating system ( 444)
3.5 Commissioning wizard 8400
This function extension is supported by the »Engineer« from version 2.15 onwards!
The commissioning wizard 8400 serves to carry out a guided commissioning of the controller based
on the Lenze setting of the parameters. The set parameters can then be saved in the controller with
mains failure protection.
 Note!
Take all the necessary safety precautions before you carry out the following
commissioning steps and switch the device on!
Safety instructions with regard to commissioning ( 45)

3 Commissioning
3.5 Commissioning wizard 8400
________________________________________________________________
 How to carry out a guided commissioning using the »Engineer«:

1. In the Project view, select the 8400 StateLine controller.
2. Go online.
After a connection to the controller has been established, the following status is displayed
in the Status line:
3. Click the icon to open the commissioning wizard 8400 dialog box.
• Now the commissioning wizard guides you step by step through the setting of the
important parameters for a quick commissioning.
• The Next button can only be activated again after all parameter settings in the device
have been reset via the Load Lenze setting button.
Related topics:
Commissioning of the "Actuating drive speed" technology application ( 51)

3 Commissioning
3.6 Manual motor direction of rotation check (manual control)
________________________________________________________________
3.6 Manual motor direction of rotation check (manual control)
The »Engineer« function "Manual control" easily allows for controlling the direction of rotation of
the motor. The manual control serves to let the motor connected to the controller with an
adjustable speed for an adjustable time.
 Note!
 How to carry out a manual motor direction of rotation check using the »Engineer«:
2. Go online.
After a connection to the controller has been established, the following status is displayed
in the Status line:
3. Click the symbol to inhibit the controller via device command.

4. Ensure that the following conditions are met:
• The mains voltage is switched on.
• No trouble is active.
• Safe torque off (STO) is not active.
5. Enable controller via terminal: Set terminal X5/RFR to HIGH level.
6. Click the icon to open the Manual motor rotation indication dialog box.
Note: If the "not ready for operation" status is displayed, check whether all conditions
mentioned before (see steps 3 ... 5) have been met.
7. Set the desired speed and runtime.

(The speed refers to the reference speed set in C00011.)
8. Click the button to let the motor rotate with the set speed for the set runtime.
By clicking the button, the function can be aborted.

3 Commissioning
3.7 Commissioning of the "Actuating drive speed" technology application
________________________________________________________________
 Note!
System constellation
8400 StateLine DIAG
X3 X4 X6
U V W AR A1U GA 24I RFR DI1 DI2 DI3 DI4
1kW ... 10kW

X61
M
3~ X6
X3/AR Reference voltage (10 V) for analog signals

X3/A1U Speed setpoint selection (slider of setpoint potentiometer R)
• Scaling: 10 V ≡ 100 % ≡ 1500 rpm1 (for a 4-pole motor)
X3/GA Ground potential (GND) for analog signals
X4/RFR Controller enable
X6 Diagnostic interface for connecting the USB diagnostic adapter
[3-1] Block diagram for wiring the commissioning example for the "Actuating drive speed" application
Commissioning steps
Find a description of the commissioning steps of the "Actuating drive speed" technology application
below.
Please observe the sequence of the steps in the following chapters and follow them through
carefully. This will help you to commission your controller quickly and as safely as possible:
Prepare controller for commissioning ( 52)
Creating an »Engineer« project & going online ( 53)
Parameterising the motor control ( 54)
Parameterise application ( 55)

3 Commissioning
________________________________________________________________
Saving parameter settings safe against mains failure ( 57)

Enable controller and test application ( 57)
3.7.1 Prepare controller for commissioning
1. Power terminal wiring.

Refer to the mounting instructions supplied with the drive controller to find help on how to
correctly design the power connections to match the requirements of your device.
2. Control terminal wiring.
The assignment for your digital inputs should correspond to one of the preconfigured control
modes (C00007) for terminal control:
Assignment of the digital terminals

Control mode DI1 DI2 DI3 DI4
Terminals 0 JOG 1/3 JOG 2/3 DCB Cw/Ccw
Terminals 2 JOG 1/3 JOG 2/3 QSP Cw/Ccw
Terminals 11 Cw/Ccw DCB MPotUp MPotDown
Terminal 16 JOG 1/3 JOG 2/3 Cw/QSP Ccw/QSP
Abbreviations used:
JOG Selection of fixed setpoints 1 ... 3 parameterised in C00039/1...3
DCB Manual DC-injection braking
Cw/Ccw CW/CCW rotation
QSP Quick stop
MPotUp Motor potentiometer: Increase speed
MPotDown Motor potentiometer: Reduce speed
Cw/QSP Fail-safe selection of the direction of rotation in connection with quick stop
Ccw/QSP
3. Inhibit controller: Set terminal X4/RFR to LOW level or open contact.

4. Connect USB diagnostic adapter.
5. Switch on voltage supply of the controller.
• Without motor operation: Connect external 24 V supply.
• With motor operation: Connect mains voltage.
If the green "DRV-RDY" LED is blinking and the red "DRV-ERR" LED is off, the controller is ready for
operation and commissioning can proceed.
Related topics:
Automatic restart after mains connection/fault... ( 95)

3 Commissioning
________________________________________________________________
3.7.2 Creating an »Engineer« project & going online
 You can find detailed information on the general use of the »Engineer« in the online help
which you can call with [F1].
• The chapter "Working with projects" describes, among other things, all options of the
Start-up wizard which are available to create a new »Engineer« project.
The following steps serve to describe a general method for creating a project with the Select
component from catalogue option. For this purpose, individual components (controller, motor, etc.)
are selected from selection lists.
1. Start the »Engineer«.
2. Create a new project with the Start-up wizard and the Select component from catalogue option:
• In the Component step, select the 8400 StateLine controller.
• In the Device modules step, select the available communication module.
• In the Application step, select the "Actuating drive speed" application. (The application can
also be selected any time afterwards via the Application parameter tab or C00005.)
• Select the other components (motor/gearbox) to be added to the project in the Other
components dialog step.
4. Go online.
After a connection to the controller has been established, the following status is displayed in the
Status line:
5. Transfer parameter set to the device.

This command serves to overwrite the current parameter settings in the controller by
parameter settings of the »Engineer« project.

3 Commissioning
________________________________________________________________
3.7.3 Parameterising the motor control
1. Select the Application parameters tab from the Workspace.

The motor control parameters, among other things, can be found on the left:
2. In the Motor control list field (C00006), select the desired motor control.
3. Adapt the motor control parameters:
Parameter Lenze setting Info

Value Unit
V/f base frequency 50.0 Hz Adapting the V/f base frequency ( 133)
(C00015)
Imax in motor mode 47.00 A Optimising the Imax controller ( 136)
(C00022)
Vmin boost 1.60 % Adapting the Vmin boost ( 135)
(C00016)
Related topics:
Notes on motor control ( 46)

3 Commissioning
________________________________________________________________
3.7.4 Parameterise application
The application parameters can be found on the right side of the Application parameter tab:
1. In the Control mode list field (C00007), select the control mode suitable for the wiring of the
terminals.
• The corresponding wiring diagram is displayed in a pop-up window if you click the button
right to the list field.
• For a detailed description, see the chapter "Terminal assignment of the control modes".
( 309)
2. Optional: Use process controller.

• For this purpose, select the desired operating mode in the L_PCTRL_1: Operating mode list
field (C00242).
• For a detailed description see the L_PCTRL_1 function block. ( 972)
• Go to the parameterisation dialog of the process controller via the Process controller button.
3. Optional: Use motor potentiometer.
• For this purpose, select "1: On" in the L_MPot_1: Use list field (C00806).
• For a detailed description see the L_MPot_1 function block. ( 944)
• Go to the parameterisation dialog of the motor potentiometer via the Motor potentiometer
button.

3 Commissioning
________________________________________________________________
4. Adapt the application parameters:

Value Unit
Accel. time - main setpoint 2.000 s The setpoint is led via a ramp function generator with
(C00012) linear characteristic. The ramp function generator
converts setpoint step-changes at the input into a ramp.
Decel. time - main setpoint 2.000 s
L_NSet_1 ( 952)
(C00013)
Reference speed 1500 rpm All speed setpoint selections are provided in % and
(C00011) always refer to the reference speed set in C00011.
The motor reference speed is indicated on the motor
nameplate.
Decel. time - quick stop 2.000 s If quick stop is requested, motor control is decoupled
(C00105) from the setpoint selection and, within the deceleration
time parameterised in C00105, the motor is brought to
a standstill (nact = 0).
Activate/deactivate quick stop ( 81)
Fixed setpoint 1 40.00 % A fixed setpoint for the setpoint generator can be
(C00039/1) activated instead of the main setpoint via the digital DI1
and DI2 inputs.
Fixed setpoint 2 60.00 %
• Fixed setpoints are selected in [%] based on the
(C00039/2) reference speed (C00011).
Fixed setpoint 3 80.00 % L_NSet_1 ( 952)
(C00039/3)
 Tip!
• Click the Signal flow button to go down one dialog level to the signal flow of the
application with further possible parameter settings. See chapter "Basic signal flow".
( 299)
• The preconfigured I/O connection in the selected control mode can be changed via
configuration parameters. See chapter "User-defined terminal assignment". ( 289)
More detailed information on the technology application:

TA "Actuating drive speed" ( 298)
Internal interfaces | application block "LA_NCtrl" ( 301)
Process data assignment for fieldbus communication ( 318)
Terminal assignment of the control modes ( 309)
Setting parameters (short overview) ( 320)
Configuration parameters ( 322)

3 Commissioning
________________________________________________________________
3.7.5 Saving parameter settings safe against mains failure
The parameter set must be saved to the device safe against mains failure to prevent parameter
settings becoming lost due to mains switching.
Save parameter set.
3.7.6 Enable controller and test application
 Stop!
Before stipulating a speed setpoint, check whether the brake in the form of a holding
brake on the motor shaft has been released!
 Note!
If the controller is enabled and the "Inhibit at power-on" auto-start option is activated in
C00142 (Lenze setting) when the mains is connected, the controller remains in the
"ReadyToSwitchOn" state.
To be able to change to the "SwitchedOn" status, the controller enable must be
deactivated first: set terminal X4/RFR to LOW level.
If the controller is in the "SwitchedOn" status:

1. Enable controller: Set terminal X4/RFR to HIGH level or close contact.
• If there is no other active source for the controller inhibit, the controller changes from the
"SwitchedOn" status to the "OperationEnabled" status.
• The Diagnostics tab and C00158 display all active sources for the controller inhibit.
2. Select the speed setpoint.
In the "Terminal 0" control mode by selecting a voltage at the analog input via the setpoint
potentiometer or by selecting a fixed setpoint via the digital DI1/DI2 inputs:
DI1 DI2 Speed selection

LOW LOW The setpoint speed is selected via analog input 1
• Scaling: 10 V ≡ 100 % ≡ reference speed (C00011)
HIGH LOW Fixed setpoint 1 (C00039/1) is used as setpoint speed.
• Lenze setting: 40 % of the reference speed (C00011)
LOW HIGH Fixed setpoint 2 (C00039/2) is used as setpoint speed.
HIGH HIGH Fixed setpoint 3 (C00039/3) is used as setpoint speed.
 Note!
Observe the actual speed value (display in C00051) as well as the LED status displays.
( 421)

3 Commissioning
________________________________________________________________
 Tip!
Other control functions in the "Terminal 0" control mode:
• DI3: HIGH level ≡ Request DC-injection braking
• DI4: HIGH level ≡ Request a change of direction of rotation
Related topics:
"Inhibit at power-on" auto-start option ( 95)
Trouble-shooting during commissioning ( 48)

3 Commissioning
3.8 Commissioning of the "Switch-off positioning" technology application
________________________________________________________________
 Note!
System constellation
8400 StateLine DIAG
X3 X4 X6
U V W AR A1U GA 24I RFR DI1 DI2 DI3 DI4
0 0 QSP
1 0 Cw X61
0 1 Ccw
1 1 -
DI1 X6
Ccw
Cw
M
3~
DI1 DI2
DI2
v [m/s]
C00039/3
i
C00013 Ccw
C00012
Cw C00012 t [s]
C00013
C00039/3
X4/RFR Controller enable

X4/DI1 Initiator connection for stop function 1
X4/DI2 Initiator connection for stop function 2
X4/DI3 Quick stop for CW rotation / selection of switch-off position 1
X4/DI4 Quick stop for CCW rotation / selection of switch-off position 2
X6 Diagnostic interface for connecting the USB diagnostic adapter
[3-2] Block diagram for wiring of the commissioning example for the "Switch-off positioning" application

3 Commissioning
________________________________________________________________
Functional principle of a switch-off positioning without pre-switch off

In case of the switch-off positioning without pre-switch off shown above, it makes sense to use the
"Terminals 2" control mode:
1. Set DI3 to HIGH level to activate CW rotation.
2. The drive accelerates along the acceleration ramp (C00012) up to the traversing speed set in
C00039/3.
3. After reaching the DI1 contact, the drive comes to a stop with quick stop (QSP) in the target
position.
4. Reset DI3 to LOW level and set DI4 to HIGH level to activate CCW rotation now.
5. The drive is accelerated along the acceleration ramp (C00012) up to the traversing speed set in
C00039/3.
6. After the DI2 contact has been reached, the drive is braked to standstill with quick stop (QSP) in
the initial position.
 Tip!
• In order to avoid positioning inaccuracy due to signal propagation delays, the initiators
can be directly evaluated by the drive controller. Limit switch evaluation can be
configured in the drive controller. In code C00488/x you can change the method of
detecting position signals from level evaluation to edge evaluation.
• In order to prevent unintended movements of the load in the target position, the use of
a holding brake is recommended as an alternative to DC-injection braking (limited
torque).
• The device terminals and their function assignment do not appear in the FB Editor. The
assignment of (hardware) terminals to (software) functions is explained in the chapter
"Terminal assignment of the control modes". ( 369)
Commissioning steps
As shown in illustration [3-2], below find a description of the commissioning steps of the "Switch-
off positioning" application without pre-switch off.
Please observe the sequence of the steps in the following chapters and follow them through
carefully. This will help you to commission your controller quickly and as safely as possible:
Prepare controller for commissioning ( 61)
Creating an »Engineer« project & going online ( 62)
Parameterising the motor control ( 63)
Parameterise application ( 64)
Saving parameter settings safe against mains failure ( 66)
Enable controller and test application ( 66)

3 Commissioning
________________________________________________________________
3.8.1 Prepare controller for commissioning
1. Power terminal wiring.

Refer to the mounting instructions supplied with the drive controller to find help on how to
correctly design the power connections to match the requirements of your device.
2. Control terminal wiring.
In case of the application shown in illustration [3-2], switch-off positioning without pre-switch
off, wiring according to the "Terminals 2" control mode makes sense:
External 24 V DC X4
supply + 24E
=
24I
Controller enable / reset error RFR
Stop function 1 DI1
Stop function 2 DI2
CW rotat. quick stop / selection: switch-off pos. 1 DI3
CCW rotat. quick stop / selection: switch-off pos. 2 DI4
DO1
GIO
3. Inhibit controller: Set terminal X4/RFR to LOW level or open contact.

4. Connect USB diagnostic adapter.
5. Switch on voltage supply of the controller.
• Without motor operation: Connect external 24 V supply.
• With motor operation: Connect mains voltage.
If the green "DRV-RDY" LED is blinking and the red "DRV-ERR" LED is off, the controller is ready for
operation and commissioning can proceed.
Related topics:

3 Commissioning
________________________________________________________________
3.8.2 Creating an »Engineer« project & going online
 You can find detailed information on the general use of the »Engineer« in the online help
which you can call with [F1].
• The chapter "Working with projects" describes, among other things, all options of the
Start-up wizard which are available to create a new »Engineer« project.
The following steps serve to describe a general method for creating a project with the Select
component from catalogue option. For this purpose, individual components (controller, motor, etc.)
are selected from selection lists.
1. Start the »Engineer«.
2. Create a new project with the Start-up wizard and the Select component from catalogue option:
• In the Component step, select the 8400 StateLine controller.
• In the Device modules step, select the available communication module.
• In the Application step, select the "Switch-off positioning" application. (The application can
also be selected any time afterwards via the Application parameter tab or C00005.)
• Select the other components (motor/gearbox) to be added to the project in the Other
components dialog step.
4. Go online.
After a connection to the controller has been established, the following status is displayed in the
Status line:
5. Transfer parameter set to the device.

This command serves to overwrite the current parameter settings in the controller by
parameter settings of the »Engineer« project.

3 Commissioning
________________________________________________________________
3.8.3 Parameterising the motor control

The motor control parameters, among other things, can be found on the left:
2. In the Motor control list field (C00006), select the desired motor control.
3. Adapt the motor control parameters:

Value Unit
V/f base frequency 50.0 Hz Adapting the V/f base frequency ( 133)
(C00015)
Imax in motor mode 47.00 A Optimising the Imax controller ( 136)
(C00022)
Vmin boost 1.60 % Adapting the Vmin boost ( 135)
(C00016)
Related topics:
Notes on motor control ( 46)

3 Commissioning
________________________________________________________________
3.8.4 Parameterise application
The application parameters can be found on the right side of the Application parameter tab:
1. In the Application list field (C00005), select the "switch-off positioning".

After the "Switch-off positioning" application is selected, the contents of the tab change, e.g.
the Process controller and Motor potentiometer buttons are not shown any more.
2. In the Control mode list field (C00007) and in case of illustration [3-2], for the shown switch-
off positioning without pre-switch off the "Terminals 2" control mode must be selected.
• The corresponding wiring diagram is displayed in a pop-up window if you click the button
right to the list field.
• For a detailed description, see the chapter "Terminal assignment of the control modes".
( 309)

3 Commissioning
________________________________________________________________
3. Adapt the application parameters:

Value Unit
Accel. time - main setpoint 2.000 s The setpoint is led via a ramp function generator with
(C00012) linear characteristic. The ramp function generator
converts setpoint step-changes at the input into a ramp.
Decel. time - main setpoint 2.000 s
Note: These settings only apply if no other ramp times
(C00013) have been selected at the L_NSet FB!
Reference speed 1500 rpm All speed setpoint selections are provided in % and
(C00011) always refer to the reference speed set in C00011.
The motor reference speed is indicated on the motor
nameplate.
Decel. time - quick stop 2.000 s If quick stop is requested, motor control is decoupled
(C00105) from the setpoint selection and, within the deceleration
time parameterised in C00105, the motor is brought to
a standstill (nact = 0).
Fixed setpoint 1 40.00 % Fixed setpoints are selected in [%] based on the
(C00039/1) reference speed (C00011).
Fixed setpoint 2 must be smaller than fixed setpoint 3!
Otherwise, the drive will be started with a low speed
(C00039/2) and accelerated after the pre-switch off.
(C00039/3)
 Tip!
• Click the Signal flow button to go down one dialog level to the signal flow of the
application with further possible parameter settings. See chapter "Basic signal flow".
( 360)
• The preconfigured I/O connection in the selected control mode can be changed via
configuration parameters. See chapter "User-defined terminal assignment". ( 289)
• Low-jerk traversing profiles can be implemented by means of S-shaped ramps.
• In the case of high breakaway torques combined with horizontal motion sequences,
"Sensorless vector control (SLVC)" can be used as motor control (C00006).
• For reversal of rotation direction (bidirectional motion), comprehensive configuration
options are available in the drive controller (e.g. by means of the L_DFlipFlop function
block).
More detailed information on the technology application:

TA "Switch-off positioning" ( 358)
Internal interfaces | application block "LA_SwitchPos" ( 361)
Terminal assignment of the control modes ( 369)
Setting parameters (short overview) ( 380)
Configuration parameters ( 382)

3 Commissioning
________________________________________________________________
3.8.5 Saving parameter settings safe against mains failure
The parameter set must be saved to the device safe against mains failure to prevent parameter
settings becoming lost due to mains switching.
Save parameter set.
3.8.6 Enable controller and test application
 Stop!
Before stipulating a speed setpoint, check whether the brake in the form of a holding
brake on the motor shaft has been released!
 Note!
If the controller is enabled and the "Inhibit at power-on" auto-start option is activated in
C00142 (Lenze setting) when the mains is connected, the controller remains in the
"ReadyToSwitchOn" state.
To be able to change to the "SwitchedOn" status, the controller enable must be
deactivated first: set terminal X4/RFR to LOW level.
If the controller is in the "SwitchedOn" status:

1. Enable controller: Set terminal X4/RFR to HIGH level or close contact.
• If there is no other active source for the controller inhibit, the controller changes from the
"SwitchedOn" status to the "OperationEnabled" status.
• The Diagnostics tab and C00158 display all active sources for the controller inhibit.
2. Select the respective control signals via the digital inputs.
 Note!
Observe the actual speed value (display in C00051) as well as the LED status displays.
( 421)
Related topics:
"Inhibit at power-on" auto-start option ( 95)
Trouble-shooting during commissioning ( 48)

3 Commissioning
3.9 PC manual control
________________________________________________________________
This function extension is available from version 06.00.00 onwards and is supported by the
»Engineer« from version 2.13 onwards!
For the purpose of testing and demonstration and when an online connection has been established,
the PC manual control enables the manual control of various drive functions from the »Engineer«.
Supported drive functions:

• Speed control (follow speed setpoint)
• Activate/deactivate quick stop
More control functions:

• Reset error message
• Set digital/analog outputs (in preparation)
Diagnostic functions:
• Display of the actual speed value and motor current (as time characteristic)
• Display of the current device status
• Display of the status determining error
• Display of the status of the digital/analog inputs (in preparation)
3.9.1 Activate PC manual control
 Stop!
PC manual control must be explicitly activated by the user.
If PC manual control is activated, the controller is inhibited via device command
(C00002/16) first.

3 Commissioning
________________________________________________________________
 Note!
With active PC manual control:
The online connection between PC and controller is monitored by the controller.
• If the online connection is interrupted longer than the timeout time set (Lenze
setting: 2 s):
• The error response "Fault" takes place, i.e. the motor becomes torqueless and
coasts, if it has not yet been in standstill.
• The "Ck16: Time overflow manual control" error message is entered into the
logbook.
PC manual control provides the Motion Control Kernel and the motor interface with all
required control signals and setpoint signals.
• The available application (function block interconnection) is now decoupled from
these interfaces, but is continued to be processed and remains unchanged.
• It does not matter what type of motor control is set in C00006.
 How to activate the PC manual control:

1. If an online connection to the controller has not been established yet:
Go online.
3. Go to the Overview dialog level and click the PC manual control button.
• First, the following safety note is displayed:
• Click the Cancel button to abort the action and close the dialog box.
• The Timeout monitoring input field serves to adapt the timeout for monitoring the
connection between the PC and the controller.
4. To acknowledge the note and activate PC manual control:
Click the Connect PC manual control button.
• The controller is inhibited via device command (C00002/16).
• The PC manual control operator dialog is displayed.

3 Commissioning
________________________________________________________________
PC manual control - operator dialog

On the left-hand side, the PC manual control operator dialog includes control elements which serve
to select various control functions. On the right-hand side, setpoint and status displays are provided
for diagnostic purposes:
 Note!
PC manual control can be exited any time by clicking the Close button.
If you exit PC manual control or change to another tab, the controller is inhibited via
device command (C00002/16), i.e. the motor becomes torqueless and is coasting unless
it already is at standstill.
The different versions are described in the following chapters.

3 Commissioning
________________________________________________________________
3.9.2 Speed control
Via the Speed control tab, simply make the drive rotate in the "Speed follower" operating mode
without the need to set control parameters or feedback systems:
 How to easily rotate the motor:

1. Set the desired speed setpoint in [%] based on the reference speed, e.g. directly in the
Setpoint PC input field or via the slider.
• Via the -- / 0 / ++ buttons, the currently set speed setpoint can be reduced/increased in
steps of 10 percent or set to zero.
• Via the Set setpoint A/B buttons, the speed setpoint can be set to a previously set
constant value A/B.
2. To start the speed follower:
Enable the controller via the Enable controller button.
• Please observe that the controller will not be enabled if other sources of controller
inhibit (e.g. terminal RFR) are active.
• The enabled drive now follows the defined speed setpoint.
• In order to prevent shocks or overload at higher setpoint changes, the speed setpoint is
lead via a linear ramp generator with adjustable acceleration/deceleration time.
• Via the Inhibit controller button, the controller can be inhibited again, i.e. the motor
becomes torqueless and is coasting unless it already is at standstill.

3 Commissioning
________________________________________________________________
Further functions:
• If the Set quick stop (QSP) button is clicked, the motor is braked to a standstill within the
deceleration time parameterised in C00105.
• Via the Deactivate quick stop (QSP) button, the quick stop can be deactivated.
• Via the << Left and Right >> buttons, the direction of rotation can be changed.

4 Device control (DCTRL)
________________________________________________________________

This chapter provides information on internal device control as well as the device commands which
can be executed via the subcodes of C00002.
• The device control causes the controller to take defined device statuses.
• The device control provides a multitude of status information in many ways:
• Visually via the LED status displays on the front of the controller. ( 422)
• As text messages in the Logbook. ( 429)
• As process signals via the outputs of the LS_DriveInterface system block. ( 98)
• Via diagnostic / display parameters which are included in the »Engineer« parameter list as
well as in the Diagnostics category in the keypad.
 Note!
The device statuses of the controller are based on the operating statuses of the CiA402
standard. Device state machine and device states ( 84)

________________________________________________________________
 How to get to the parameterisation dialog of the device control:

1. »Engineer« Go to the Project view and select the 8400 StateLine controller.
3. Go to the Overview dialog level and click the Drive interface button.
Parameterisation dialog in the »Engineer«

The parameterisation dialog shows the input / output signals and the internal signal flow of the
LS_DriveInterface system block which displays the device control in the function block editor:
Range / Meaning Display parameter

 Display of the control word via system bus (CAN) C00136/2
 Display of the control word via communication module (e.g. PROFIBUS) C00136/1
 Display of the internal state machine and the current device status C00137
 Display of all active sources of a controller inhibit C00158
 Display of all active sources of a quick stop C00159
 Display of the status word of the device control C00150

4.1 Device commands (C00002/x)
________________________________________________________________
This chapter describes the device commands which are provided in the subcodes of C00002 and can
be carried out using the keypad or, alternatively, the »Engineer« when an online connection has
been established.
The device commands serve, among other things, to directly control the controller, to organise
parameter sets, and to call diagnostic services.
Regarding the execution of the device commands, a distinction is drawn between:
• Device commands which have an immediate effect on control (e.g. "Activate quick stop")
• After being called in C00002/x, these device commands provide static status information
("On" or "Off).
• Device commands with longer execution duration (several seconds)
• After being called in C00002/x, these device commands provide dynamic status information
("Work in progress 20%"  "Work in progress 40%", etc.).
• The execution of the device command has not finished successfully until the "Off / ready"
status information is provided in C00002/x.
• In the event of an error, the "Action cancelled" status information is provided in C00002/x . In
this case, further details can be obtained from the status of the device command executed
last which is displayed in C00003.
 Stop!
Before the supply voltage is switched off after a device command has been transmitted
via C00002/x, the device command must be checked for successful completion on the
basis of the status information provided in C00002/x!
• This is of particular importance for device commands which save data to the memory
module of the device. Incomplete storage processes may lead to data inconsistencies
in the memory module.
 Note!
• Before activating device commands by a master control, wait for the "Ready" signal of
the controller.
• The device will reject a write process to C00002/x if the value is >1 and issue an error
message.
• C00003 displays the status of the device command that was executed last.

________________________________________________________________
Activate device command

When an online connection has been established, simply use the »Engineer« to activate a device
command by selecting the corresponding option from the Parameters tab in C00002/x ("0: off" or
"1: On / start").
• Alternatively, the device command can also be activated via e.g. keypad or through a master
control by writing to C00002/x.
• Some of the frequently used device commands (such as "Save parameter set") can also be
executed via the Toolbar icons of the »Engineer« when an online connection has been
established:
Icon Function
Enable controller
Inhibit controller
Save parameter set (for 8400: Save all parameter sets)
 Note!
Device commands that can be executed via the Toolbar of the »Engineer« always affect
the element currently selected in the Project view including all subelements!
• If no controller but a system module is selected in the Project view, the corresponding
device command will be activated in all lower-level controllers having an online
connection with the »Engineer«.
Before the desired action is carried out, a confirmation prompt appears first, asking
whether the action is really to be carried out.

________________________________________________________________
Short overview of device commands

Device commands described in this chapter:
C00002 Device command Controller Status information

Subcode: inhibit
required
1 Load Lenze setting  dynamic
6 Load all parameter sets  dynamic
11 Save all parameter sets dynamic
16 Enable/Inhibit controller static
17 Activate/deactivate quick stop static
19 Reset error static
21 Delete logbook static
27 Device search function static
(from version 06.00.00)
Device commands described in other chapters:
C00002 Device command Controller Status information

Subcode: inhibit
required
23 Motor parameter identification  dynamic
Automatic motor data identification
26 CAN reset node static
Reinitialising the CANopen interface
28 Check MasterPin  static
Unlocking the controller with a MasterPin
29 Set binding ID static
Device personalisation
30 Delete binding ID static
31 Set password static
Password protection
32 Check password static
33 Delete password static

________________________________________________________________
4.1.1 Load Lenze setting
The C00002/1 = "1: On / start" device command resets the parameters to the Lenze setting which
are saved in the controller firmware.
• Can only be executed if the controller is inhibited; otherwise, the feedback C00002/1 = "6: No
access - controller inhibit" will be returned.
• All parameter changes made since the last saving of the parameter set will get lost!
• This device command has an effect on the settings of the parameters of the operating system,
application and module.
 How to load the Lenze setting:

1. If the controller is enabled, it must be inhibited, e.g. by executing the "Enable/Inhibit
controller" device command "(C00002/16 = "0: Off / ready").
2. Execute the "Load Lenze setting" device command:
C00002/1 = "1: On / start"
The loading process may take a couple of seconds. After the device command has been
called, C00002/1 returns dynamic status information ("Work in progress 20 %"  "Work in
progress 40 %"  "Work in progress 60 %", etc.).
Notes on execution time

The execution time of this device command usually is 2.5 s, independent of the communication
module used.
If - in addition to the device-internal time monitoring - a monitoring of the execution time is to be
implemented for this device command in a higher-level control, the monitoring time has to be 2 ...
3 times higher.

________________________________________________________________
4.1.2 Load all parameter sets
The C00002/6 = "1: On / start" device command reloads all parameter settings from the memory
module to the controller.
• Can only be executed if the controller is inhibited; otherwise, the feedback C00002/6 = "6: No
access - controller inhibit" will be returned.
• All parameter changes made since the last saving of the parameter set will get lost!
• This device command has an effect on the settings of the parameters of the operating system,
application and module.
 Note!
The controller is currently provided with one data record for all parameters, i.e. every
parameter has a value. Several data records per controller are in preparation.
From version 04.00.00 onwards, the basic function Parameter change-over provides a
change-over between four sets with different parameter values for up to 32 freely
selectable parameters. ( 577)
 How to load the parameter settings from the memory module:

1. If the controller is enabled, it must be inhibited, e.g. by executing the "Enable/Inhibit
controller" device command "(C00002/16 = "0: Off / ready").
2. Execute the "Load all parameter sets" device command:
C00002/6 = "1: On / start"
The loading process may take a couple of seconds. After the device command has been
called, C00002/6 returns dynamic status information ("Work in progress 20 %"  "Work in
progress 40 %"  "Work in progress 60 %", etc.).

The execution time of this device command depends on the communication module used. If - in
addition to the device-internal time monitoring - a monitoring of the execution time is to be
3 times higher than the times specified in the following table:
Communication module used Typical execution time

StateLine C HighLine C TopLine C
Without communication module 3.5 s 3.5 s 3.5 s
PROFIBUS® or INTERBUS 3.5 s 3.5 s 3.5 s
EtherCAT®, PROFINET® or EtherNet/IP™ 4.0 s 3.5 s 4.0 s
Ethernet POWERLINK 15.0 s 15.0 s 15.0 s

________________________________________________________________
4.1.3 Save all parameter sets
If parameter settings are changed in the controller, those changes will be lost after mains switching
of the controller unless the settings have been saved explicitly.
The C00002/11 = "1: On / start" device command saves the current parameter settings safe against
mains failure to the memory module of the controller.
 Note!
When the device is switched on, all parameters are automatically loaded from the
memory module to the main memory of the controller.
Observe the following to avoid data inconsistencies which cause errors when the
parameters are loaded from the memory module:
During the storage process:
• Do not switch off the supply voltage!
• Do not remove the memory module from the device!
The controller is currently provided with one data record for all parameters, i.e. every
parameter has a value. Several data records per controller are in preparation.
 How to save the parameter settings to the memory module:

Execute the "Save all parameter sets" device command:
C00002/11 = "1: On / start"
The storage process may take a couple of seconds. After the device command has been
called in C00002/11, dynamic status information ("Work in progress 20%"  "Work in
progress 40%"  "Work in progress 60%", etc.) is returned.
 Tip!
• This device command can also be activated via the icon in the Toolbar.
• The "Load Lenze setting" device command (C00002/1 = "1: On / start") resets the
parameter settings to the delivery status of the device.

The execution time of this device command depends on the communication module used. If - in
addition to the device-internal time monitoring - a monitoring of the execution time is to be
3 times higher than the times specified in the following table:
Communication module used Typical execution time

Without communication module 2.0 s 2.5 s 2.5 s
PROFIBUS® or INTERBUS 3.5 s 3.5 s 4.0 s
EtherCAT®, PROFINET® or EtherNet/IP™ 4.5 s 4.5 s 4.5 s
Ethernet POWERLINK 11.0 s 11.0 s 11.0 s

________________________________________________________________
4.1.4 Enable/Inhibit controller
The C00002/16 = "1: On / start" device command enables the controller, provided that no other
source of a controller inhibit is active.
The C00002/16 = "0: Off / ready" device command inhibits the controller again, i.e. the power
output stages in the controller are inhibited and the speed/current controllers of the motor control
are reset.
• The motor becomes torqueless and coasts, if it has not yet been in standstill.
• When the controller is inhibited, the status output bCInhActive of the LS_DriveInterface system
block is set to TRUE.
• When the controller inhibit request is reset, the drive synchronises to the actual speed. For this
purpose,
• If the flying restart circuit is activated in C00990, the flying restart function parameterised in
C00991 is used for the synchronisation to the rotary or standing drive. Flying restart
function ( 208)
• In the case of an operation with feedback, the actual speed is read out by the encoder system.
• In the case of a sensorless vector control (SLVC), the actual speed from the motor model of
the motor control is used for the synchronisation.
• C00158 provides a bit coded representation of all active sources/triggers of a controller inhibit:
Bit Cause/Source of controller inhibit

Bit 0 Terminal controller enable
Bit 1 CAN control word
Bit 2 MCI control word
Bit 3 SwitchOn
Bit 4 Application (LS_DriveInterface system block: bCInh input)
Bit 5 Device command (C00002/16)
Bit 6 Error with a "Fault"/"Trouble" error response or system error, respectively
Bit 7 Internal signal
Bit 8 Reserved
Bit 9 Reserved
Bit 10 AutoStartLock
Bit 11 Motor parameter identification
Bit 12 Automatic brake operation
Bit 13 DCB-IMP
Bit 14 Reserved
Bit 15 Reserved
 Tip!
The controller can also be enabled or inhibited via the and toolbar icons.

________________________________________________________________
4.1.5 Activate/deactivate quick stop
The C00002/17 = "1: On / start" device command activates the quick stop function, i.e. the motor
control is separated from the setpoint selection, and within the deceleration time parameterised
inC00105 the motor is brought to a standstill (nact = 0).

Value Unit

• The motor is kept at a standstill during closed-loop operation.
• A pulse inhibit is set if the auto-DCB function has been activated via C00019.
• C00159 provides a bit coded representation of all active sources/triggers of a quick stop:
Bit Cause/source for quick stop

Bit 0 Reserved
Bit 1 CAN control word (bit 2)
Bit 2 MCI control word (bit 2)
Bit 3 Reserved
Bit 4 Application (LS_MotorInterface system block: bQspOn input)
Bit 5 Device command (C00002/17)
Bit 6 Device error with "TroubleQSP" error response
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Operating system
Bit 11 Reserved
Bit 12 MCK (System block LS_MotionControlKernel: Input bQspOn)
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
Deactivate quick stop again

The C00002/17 = "0: Off / ready" device command deactivates the quick stop again, provided that
no other source of a quick stop is active.

________________________________________________________________
4.1.6 Reset error
The C00002/19 = "1: On / start" device command acknowledges an existing error message if the
error cause has been eliminated and thus the error is no longer pending.
• After the reset (acknowledgement) of the current error, further errors may be pending which
must also be reset.
• The status determining error is displayed in C00168.
• The current error is displayed in C00170.
 Tip!
An error message can also be acknowledged by activating the Reset error button in the
Diagnostics tab.
Detailed information on error messages can be found in the "Diagnostics & error
management" chapter. ( 420)
4.1.7 Delete logbook
The C00002/21 = "1: On / start" device command deletes all logbook entries.
 Tip!
To display the logbook in the »Engineer«, click the Logbook button on the Diagnostics tab.
In the Logbook dialog box, it is also possible to delete all logbook entries by clicking the
Delete button.
Detailed information on the logbook can be found in the "Diagnostics & error
management" chapter. ( 420)

________________________________________________________________
4.1.8 Device search function
In some applications where controllers are installed in control cabinets or are positioned in a
spacious plant, it is often difficult to locate a device connected online for e.g. maintenance work.
There is an established online connection with the device but you do not know where the controller
is located physically.
The C00002/27 = "1: On / start" device command serves to carry out an "optical location":
• For the time set in C00181/1, all four status LEDs at the front of the controller flash. Afterwards,
the function is turned off automatically.
• If the device command is executed again within the set time period, the duration is extended
accordingly.
• The setting C00002/27 = "0: Off / ready" serves to abort or switch off the function.
• Adjustable time period: 0 ... 6000 s (Lenze setting: 5 s)
 Tip!
The device search function can also be activated via the toolbar icon.

4.2 Device state machine and device states
________________________________________________________________
The behaviour of the controller is mainly determined by the current device status within the device
state machine. Which device status is active and which device status is next depends on certain
control signals (e.g. for controller inhibit and quick stop) and status parameters.
Device state machine
0
Power on
Init SystemFault
1 11
0
Firmware
SafeTorqueOff
Update
10
0
0
ReadyTo Fault
SwitchON 8
3
Operation
SwitchedOn Ident
Enabled
4 2
5
1
Trouble TroubleQSP
Warning
7 9
Grey field: Pulse inhibit

 Can be reached from all statuses.
 "Warning" contradicts the definition of a device status. In fact, it is a message which is to call attention to
the device status the warning exists for.
"Warning" can occur in parallel to other device states.
• The arrows between the device states mark possible state changes.
• The digits stand for the status ID (see table below).

________________________________________________________________
• The change from one status to the other is carried out within a 1-ms cycle. If within this time
there are several requests for status changes, the status with the higher priority is processed
first (see table below).
• The C00137 displays the current device status.
• C00150 (status word) provides a bit coded representation of the current device status via bits
8 ... 11 (see table below).
ID Device status Priority Status bits Meaning

(Display in C00137) (Display in C00150)
Bit 11 Bit 10 Bit 9 Bit 8
0 FirmwareUpdate - 0 0 0 0 Firmware update function is active
1 Init - 0 0 0 1 Initialisation active
2 Ident - 0 0 1 0 Identification active
3 ReadyToSwitchOn Prio 5 0 0 1 1 Device is ready to start
4 SwitchedOn Prio 4 0 1 0 0 Device is switched on
5 OperationEnabled Prio 1 0 1 0 1 Operation
6 - - 0 1 1 0 -
7 Trouble Prio 3 0 1 1 1 Fault active
8 Fault Prio 7 1 0 0 0 Fault active
9 TroubleQSP Prio 2 1 0 0 1 TroubleQSP is active
10 SafeTorqueOff Prio 6 1 0 1 0 Safe torque off is active
11 SystemFault Prio 8 1 0 1 1 System fault active
[4-1] Device statuses, priorities, and meaning of the status bits in the status word
4.2.1 FirmwareUpdate
 Note!
This function may only be executed by qualified Lenze personnel!

________________________________________________________________
4.2.2 Init
"DRV-RDY" LED "DRV-ERR" LED Display in C00137 Display in status word 1 (C00150)
OFF OFF Init 0 0 0 1
The controller is in this status immediately after switching on its 24 V supply voltage.
In the "Init" status, the operating system is initialised and all device components (communication
module, memory module, power section, etc.) are identified. When identifying the power section, it
is checked first if it is switched on or if the required voltage lies within the tolerance zone,
respectively.
• The inverter is inhibited, i.e. the motor terminals (U, V, W) of the inverter are deenergised.
• The digital and analog inputs are not yet evaluated at this time.
• The bus systems (CAN, PROFIBUS etc.) do not work yet, i.e. communication is not possible.
• The application is not yet processed.
• The monitoring functions are not active yet.
• The controller cannot be parameterised yet and no device commands can be carried out yet.
 Note!
If the 24V voltage supply is in the valid range (>19V) and the initialisation is finished, the
device changes automatically to the "ReadyToSwitchOn" status.
If only the 24V voltage supply is available during the mains connection, the error
message "LU: Undervoltage in the DC bus" is also entered into the logbook of the drive
controller.

________________________________________________________________
4.2.3 Ident
OFF Ident 0 0 1 0
The controller has been provided with the "Motor parameter identification" function for automatic
identification of the motor parameters. If the motor parameter identification is active, the
controller is in the "Ident" device status.
The "Ident" device status can only be reached from the "SwitchedOn" device status, i.e. the
controller must be inhibited first so that identification can be started afterwards via the
corresponding device command:
Device command Function Detailed information

C00002/23 Motor parameter identification Automatic motor parameter identification
 Stop!
During the identification of the motor parameters
• the controller does not respond to setpoint changes or control processes, (e.g. speed
setpoints, quick stop, torque limitations),
• the application remains active,
• all system interfaces (IO, bus systems, etc.) remain active,
• error monitoring remains active,
• the inverter is controlled independently of the setpoint sources.
After the motor parameter identification is completed, the status changes back to "SwitchedOn".

________________________________________________________________
4.2.4 SafeTorqueOff
OFF SafeTorqueOff 1 0 1 0
 Note!
Up to and including version 13.xx.xx the following applies:
This device status is only possible in connection with an integrated safety system and if
a power section supply is available!
From version 14.00.00 the following applies:
This device status is only possible in connection with an integrated safety system!
Integrated safety systems with Inverter Drives 8400

Drive controller of the 8400 series can be equipped with the integrated "Safe torque off (STO)"
safety system.
The integrated safety system is applicable on machines for the protection of persons.
The drive function is still carried out by the drive controller. The safety system provides safe inputs.
If the safety system is activated, it executes control functions according to EN 60204-1 directly in
the drive controller in case of errors.
Safety state
If the drive controller is switched off by the safety system, the device changes to the
"SafeTorqueOff" status.
If the safety system deactivates the "Safe torque off (STO)" request, the device changes to the
"ReadyToSwitchOn" status.
 Detailed information on the integrated safety system can be found in the hardware
manual!
The hardware manual contains important notes on the safety system which must be
observed!
The hardware manual has been stored in electronic form on the data carrier supplied
with the 8400 drive controller.

________________________________________________________________
4.2.5 ReadyToSwitchOn
OFF ReadyToSwitchOn 0 0 1 1
The controller is in this device status directly after the initialisation has been completed!
• The bus systems are running and the terminals and encoders are evaluated.
• The monitoring functions are active.
• The controller can be parameterised.
• The application is basically executable.
 Note!
• The "ReadyToSwitchOn" state is not only activated after the mains connection, but
also after the deactivation of "Trouble", "Fault" or "SafeTorqueOff".
• If C00142 activates the autostart option "Inhibit at power-on" (Lenze setting), explicit
deactivation of the controller inhibit after mains connection is always required for the
controller to change from the "ReadyToSwitchOn" status to the "SwitchedOn" status.
• If only the 24V voltage supply is available during the mains connection, the error
message "LU: Undervoltage in the DC bus" is entered into the logbook of the drive
controller and the drive controller remains in the "ReadyToSwitchOn" status.
 Danger!
If the "Inhibit at power-on" auto-start option has been deactivated in C00142, the
"ReadyToSwitchOn status switches directly to the "SwitchedOn" status after mains
connection.

________________________________________________________________
4.2.6 SwitchedOn
OFF SwitchedON 0 1 0 0
The drive is in this device status if the DC bus voltage is applied and the controller is still inhibited
by the user (controller inhibit).
• The bus systems are running and the terminals and encoders are evaluated.
• The monitoring functions are active.
• The application is basically executable.
If the controller inhibit is deactivated, the devices changes to the "OperationEnabled" status and the
motor follows the setpoint defined by the active application.
 Tip!
C00158 provides a bit coded representation of all active sources/triggers of a controller
inhibit.
Depending on certain conditions, a status change takes place based on the "SwitchedOn" device
status:
Change condition Changeover to the device status

Control bit "EnableOperation" of all control channels = "1" OperationEnabled
AND terminal RFR = HIGH level (controller enable)
Control bit "SwitchOn" of a control channel = "0". ReadyToSwitchOn
Motor parameter identification requested. Ident
Undervoltage in the DC bus. Trouble/Fault (depending on C00600/1)
Error with error response "Trouble" occurs. Trouble
Error with error response "TroubleQSP" occurs. TroubleQSP
Related topics:
wCANControl/wMCIControl control words ( 101)

________________________________________________________________
4.2.7 OperationEnabled
OFF OperationEnabled 0 1 0 1
The drive controller is in this device status if the controller inhibit is deactivated and no error
("Trouble" or "TroubleQSP") has occurred.
If the operation is enabled and the magnetisation in case of sensorless vector control (SLVC) has
been completed, the motor follows the setpoint determined by the active application.
Depending on certain conditions, a status change takes place based on the "OperationEnabled"
device status.

Control bit "EnableOperation" of a control channel = "0" SwitchedOn
OR terminal RFR = LOW level (controller inhibit).
Undervoltage in the DC bus. Trouble/Fault (depending on C00600/1)
Error with error response "Trouble" occurs. Trouble
Error with error response "TroubleQSP" occurs. TroubleQSP
Related topics:

________________________________________________________________
4.2.8 TroubleQSP
TroubleQSP 1 0 0 1
This device status will be active as soon as a monitoring mode responds the error response
"TroubleQSP" has been parameterised for.
• The drive is decelerated to standstill with torque within the deceleration time parameterised for
quick stop independently of the defined setpoint and can be kept there.
• The device status can only be abandoned by acknowledging the error if the error cause is
removed.
• When the controller is inhibited, it is possible to jump to the "SwitchedOn" status even during
the error status since the controller inhibit function has a higher priority. As long as the error is
pending and has not been acknowledged, the status is changed back to the "TroubleQSP" status
when the controller is enabled afterwards.
Depending on certain conditions a status change takes place based on the "TroubleQSP" device
status.

AND error is reset by the control bit "ResetFault"
AND no more errors are pending.
OR terminal RFR = LOW level (controller inhibit)
AND error is reset by the control bit "ResetFault"
AND no more errors are pending.
A message is active in the system. Trouble
Related topics:
Basics on error handling in the controller ( 420)

________________________________________________________________
4.2.9 Trouble
OFF Trouble 0 1 1 1
This device status becomes active as soon as a monitoring mode responds for which the error
response "Trouble" has been parameterised.
• The motor has no torque (is coasting) due to the inhibit of the inverter.
• The "Trouble" device status is automatically abandoned if the error cause has been removed.
 Note!
If in C00142 the "Inhibit at trouble" is activated, explicit deactivation of the controller
inhibit is required before this status can be abandoned.
Depending on certain conditions a status change takes place based on the "Trouble" device status.

The error cause is no longer active. ReadyToSwitchOn
AND the message has been cancelled.
OR terminal RFR = LOW level (controller inhibit)
In the system, there is an error configured on "TroubleQSP". TroubleQSP
Related topics:

________________________________________________________________
4.2.10 Fault
OFF Fault 1 0 0 0
This device status will be active as soon as a monitoring mode responds the error response "Fault"
has been parameterised for.
• The motor has no torque (is coasting) due to the inhibit of the inverter.
• The error must explicitly be reset ("acknowledged") in order to exit the device status, e.g. by the
device command "Reset error" or via the control bit "ResetFault" in the control word
wCanControl or wMCIControl.
 Note!
If an undervoltage in the DC bus of the drive controller occurs (error message "LU"), the
device changes to the "Trouble" status.
An additional error of higher priority leads the device into the "Fault" status.
According to the Device state machine, the device changes to the "ReadyToSwitchOn"
status after acknowledging the error although the undervoltage is still available!
If the "Inhibit at fault" auto-start option has been activated in C00142, explicit
deactivation of the controller inhibit is required before the status can be abandoned.
Related topics:
4.2.11 SystemFault
OFF SystemFault 1 0 1 1
This device status becomes active if a system fault occurs.

• The device status can only be abandoned by
• mains switching or
• a system restart (in preparation).

4.3 Automatic restart after mains connection/fault...
________________________________________________________________
.../Error/undervoltage/loading of the Lenze setting

In C00142, the starting performance of the controller after mains connection, undervoltage, loading
of the Lenze setting as well as a "Trouble" or a "Fault" reset can be parameterised individually:
Auto-start option (C00142) Lenze setting

Bit 0 "Inhibit at power-on" auto-start option 1 ≡ Inhibit is active
Bit 1 Inhibit at trouble 0 ≡ Inhibit is not active
Bit 2 Inhibit at fault 0 ≡ Inhibit is not active
Bit 3 Inhibit at undervoltage 1 ≡ Inhibit is active
Bit 4 Auto-start option "Inhibit at Lenze setting" 1 ≡ Inhibit is active
Bit 5 Reserved 0
Bit 6
Bit 7
 Note!
In the Lenze setting , automatic restart after mains connection, undervoltage, and
loading of the Lenze setting is inhibited.
4.3.1 "Inhibit at power-on" auto-start option
The auto-start option "Inhibit at power-on" prevents the change to the "SwitchedOn" status after
mains connection if the controller is already enabled at mains connection.
 Danger!
If the "Inhibit at power-on" auto-start option has been deactivated in C00142, (bit 0 = 0),
the motor can directly start to run if the controller is enabled after mains connection!
The following three cases describe the behaviour of the controller after mains connection
depending on whether the controller is enabled and the set auto-start option. Here, it is assumed
that after mains connection, no errors and trouble occur in the controller and the "EnableOperation"
control bit in the wDriveControl is set to "1".

________________________________________________________________
Case 1: No controller enable at mains connection

If the controller is not enabled at mains connection, the controller remains in the "SwitchedOn"
status. Only with the controller enable, the device changes to the "OperationEnabled" status,
independent of the set auto-start option:

5)5

W
&
2SHUDWLRQ(QDEOHG
6ZLWFKHG2Q
5HDG\7R6ZLWFK2Q
,QLW
W
Case 2: Controller enable at mains connection and "Inhibit at power-on" activated

If the controller is enabled at mains connection and the auto-start option "Inhibit at power-on" is
activated, the controller remains in the "ReadyToSwitchOn" status. For changing to the
"SwitchedOn" status, the controller enable must first be deactivated. Only when the controller is
enabled again afterwards, the status changes to "OperationEnabled":

5)5

W
&
2SHUDWLRQ(QDEOHG
6ZLWFKHG2Q
5HDG\7R6ZLWFK2Q
,QLW
W
Case 3: Controller enable at mains connection and "Inhibit at power-on" deactivated

If in C00142 the autostart option "Inhibit at power-on" is deactivated (bit 0 = 0), the status first
changes from "ReadyToSwitchOn" to "SwitchedOn" and then to "OperationEnabled" after mains
connection with an enabled controller:

5)5

W
&
2SHUDWLRQ(QDEOHG
6ZLWFKHG2Q
5HDG\7R6ZLWFK2Q
,QLW
W

________________________________________________________________
4.3.2 Auto-start option "Inhibit at Lenze setting"
The "Inhibit at Lenze setting" auto-start option configurable via bit 4 of C00142 prevents the
change to the "SwitchedOn" status after the Lenze setting has been loaded and the controller is
enabled.
For a change to the "SwitchedOn" status, the controller enable must first be deactivated after the
Lenze setting has been loaded. Only if the controller is enabled again afterwards, the status changes
to "OperationEnabled":

5)5

W

o q r
/$B1&WUOE&,QK

W

n p
&

W
& W ORDG
2SHUDWLRQ(QDEOHG
6ZLWFKHG2Q
5HDG\7R6ZLWFK2Q
,QLW
W
 Loading of the Lenze setting not possible since controller inhibit not set.
 Controller inhibit via signal change by the user
 Loading of the Lenze setting via device command C00002/1 = "1"
 Controller enable via signal change by the user
 Controller inhibit and subsequent controller enable via signal change by the user
tload = time required for loading the Lenze setting
[4-1] Example 1: Behaviour with activated auto-start option "Inhibit at Lenze setting" (C00142: Bit 4 = "1")

5)5

W

o q
/$B1&WUOE&,QK

W

n p
&

W
& W ORDG
2SHUDWLRQ(QDEOHG
6ZLWFKHG2Q
5HDG\7R6ZLWFK2Q
,QLW
W
 Loading of the Lenze setting not possible since controller inhibit not set.
 Controller inhibit via signal change by the user
 Loading of the Lenze setting via device command C00002/1 = "1"
 Controller enable via signal change by the user
tload = time required for loading the Lenze setting
[4-2] Example 2: Behaviour with deactivated auto-start option "Inhibit at Lenze setting" (C00142: Bit 4 = "0")

4.4 Internal interfaces | "LS_DriveInterface" system block
________________________________________________________________
The LS_DriveInterface system block displays the device control in the FB Editor.
/6B'ULYH,QWHUIDFH
Z&$1&RQWURO & Z6WDWH'HWHUP)DLO1R/RZ
%LW 6ZLWFK2Q
Z0&,&RQWURO & Z6WDWH'HWHUP)DLO1R+LJK
%LW 'LVDEOH9ROWDJH &
%LW 6HW4XLFNVWRS
48,&.6723 Z6WDWH'HWHUP)DLO1R6KRUW
E,QLW
%LW (QDEOH2SHUDWLRQ
& E6DIH7RUTXH2II
%LW 0RGH6SHFLILFB (1$%/(',6$%/(
&21752/:25'
E5HDG\
%LW 0RGH6SHFLILFB 5)5
E5HDG\7R6ZLWFK2Q
%LW 0RGH6SHFLILFB &
%LW 5HVHW)DLO
5(6(7)$,/
E2SHUDWLRQ(QDEOH
E:DUQLQJ
%LW 6HW+DOW
E7URXEOH
%LW UHVHUYHGB
E)DLO
%LW UHVHUYHGB
& E&ROOHFWHG)DLO
%LW /HQ]H6SHFLILFB E6DIHW\,V$FWLYH
%LW /HQ]H6SHFLILFB
E,PS,V$FWLYH
%LW /HQ]H6SHFLILFB
E&,QK,V$FWLYH
%LW 6HW)DLO
6SHHG & " E&Z&FZ
%LW /HQ]H6SHFLILFB
E&,QK E1DFW&RPSDUH
E)DLO5HVHW
Z'HYLFH6WDWXV:RUG
%LW )UHH6WDWXV%LW
E6WDWXVB%LW &
%LW 3RZHU'LVDEOHG
E6WDWXVB%LW
%LW )UHH6WDWXV%LW
E6WDWXVB%LW
%LW )UHH6WDWXV%LW
E6WDWXVB%LW
%LW )UHH6WDWXV%LW
E6WDWXVB%LW
67$786:25'
%LW )UHH6WDWXV%LW
E6WDWXVB%LW
%LW $FW6SHHG,V=HUR
E6WDWXVB%LW
%LW &RQWUROOHU,QKLELW
%LW 6WDWXV&RGH%LW
%LW 6WDWXV&RGH%LW
%LW 6WDWXV&RGH%LW
%LW 6WDWXV&RGH%LW
%LW :DUQLQJ
%LW 7URXEOH
%LW )UHH6WDWXV%LW
%LW )UHH6WDWXV%LW

________________________________________________________________
Inputs
Identifier Information/possible settings

DIS code | data type
wCANControl Control word via system bus (CAN)

C00136/2 | WORD • The controller controlled by a master control (e.g. IPC) receives its control word by
the CANopen system bus interface. The process data word is provided at this
input by the upstream port block LP_CanIn1.
• For a detailed description of the individual control bits, see chapter
"wCANControl/wMCIControl control words". ( 101)
wMCIControl Control word via communication module (e.g. PROFIBUS)
C00136/1 | WORD • The controller controlled by a master control (e.g. IPC) receives its control word by
a plugged-in communication module. The process data word is provided at this
input by the upstream port block LP_MciIn1.
• For a detailed description of the individual control bits, see chapter
"wCANControl/wMCIControl control words". ( 101)
bCInh Enable/Inhibit controller ( 80)
C00833/36 | BOOL
FALSE Enable controller: The controller switches to the "OperationEnabled"
device state, if no other source of a controller inhibit is active.
• C00158 provides a bit coded representation of all active
sources/triggers of a controller inhibit.
TRUE Inhibit controller (controller inhibit): The controller switches to the
"SwitchedOn" device state.
bFailReset Reset error message ( 448)
C00833/37 | BOOL
FALSETRUE The current error is reset.
bStatus_Bit0 Freely assignable bits in the status word of the controller
bStatus_Bit2 • You can use these bits for returning information to the master control (e.g. IPC).
bStatus_Bit3
bStatus_Bit4
bStatus_Bit5
bStatus_Bit14
bStatus_Bit15
C00833/38 ... 44 | BOOL
bFree_1 Reserved inputs have no function

bFree_2
bFree_3
bFree_4
C00833/45 ... 48 | BOOL

________________________________________________________________
Outputs
Identifier Value/meaning
wDeviceStatusWord Status word of the controller (based on DSP-402)

C00150 | WORD • The status word contains all information relevant for controlling the controller.
• The status word is sent as a process data word to the master control via a port
block:
• Port block LP_CanOut1 when the CANopen system bus interface is used or
• Port block LP_MciOut when a plugged-in communication module is used (e.g.
PROFIBUS).
• For a detailed description of each status bit see chapter "wDeviceStatusWord
status word". ( 103)
wStateDetermFailNoLow Display of the status determining error (32-bit error number, Low-Word)
WORD • From version 06.00.00 onwards: If the "Use 16BitFailNo." (Bit 15 = "1") option is
activated in C00148, the short16-bit error number (wStateDetermFailNoShort) is
provided via this output as well.
• In this case, the wStateDetermFailNoHigh output is "0".
• Advantage: The bus transfer of the error numbers is possible via a data word
without changing the interconnection of the technology application.
wStateDetermFailNoHigh Display of the status determining error (32-bit error number, High-Word)
WORD
wStateDetermFailNoShort Display of the status determining error (16-bit error number)

WORD
bInit TRUE "Init" device status is active

BOOL
bSafeTorqueOff TRUE "SafeTorqueOff" device status is active

BOOL
bReady TRUE "SwitchedOn" device status is active

BOOL
bReadyToSwitchOn TRUE "ReadyToSwitchOn" device status is active

BOOL
bOperationEnable TRUE "OperationEnabled" device status is active

BOOL
bWarning TRUE A warning is indicated

BOOL
bTrouble TRUE "Trouble" device state is active

BOOL
bFail TRUE "Fault" device state is active

BOOL
bCollectedFail TRUE Group error: A device status according to the group error
BOOL configuration in C00148 has occurred, the drive is not able to follow
(from version 04.00.00) the setpoint selection.
bSafetyIsActive TRUE In preparation
BOOL
bImpIsActive TRUE Pulse inhibit is active

BOOL
bCInhIsActive TRUE Controller inhibit is active

BOOL
bCwCcw FALSE Motor rotates in CW direction

BOOL
TRUE Motor rotates in CCW direction
bNactCompare TRUE During open-loop operation:
BOOL Speed setpoint < Comparison value (C00024)
During closed-loop operation:
Actual speed value < Comparison value (C00024)
________________________________________________________________
Option "Lock bFail at TroubleQSP"

The TroubleQSP device status gets active as soon as a monitoring function responds that has been
parameterised for the "TroubleQSP" error response. Since the bFail status output is not set in this
case, it is not recognisable after pulse inhibit due to e.g. automatic brake operation (as well for a
higher-level control), why the drive is standing und does not start when the setpoint is selected.
Only after an error reset, a setpoint is accepted again.
From version 11.00.00: If the "Lock bFail at TroubleQSP" option is activated (bit 14 = "1") in C00148,
the bFail status output is also set to TRUE if the device status is TroubleQSP.
4.4.1 wCANControl/wMCIControl control words
The controller is controlled by a master control (e.g. IPC) via the wCanControl or wMCIControl control
word, respectively.
• wCANControl: Control word via system bus (CAN)
• The process data word is provided at the wCanControl input via the upstream LP_CanIn1 port
block.
• Display parameter: C00136/2
• wMCIControl: Control word via a plugged-in communication module (e.g. PROFIBUS)
• The process data word is provided at the wMCIControl input via the upstream LP_MciIn1 port
block.
• The bit assignment for the wCanControl/wMCIControl control words can be seen from the table
below.
________________________________________________________________
 Note!
The assignment of bits 11 ... 13 and bit 15 depends on the technology application
selected in C00005!
• See description of the corresponding technology application.
Bit Name Function

Bit 0 SwitchOn 1 ≡ Change to the "SwitchedOn" device status
• From version 05.01.00 onwards, the following applies: This bit must be set in
the CAN AND MCI control word in order that the drive changes to the
"SwitchedOn" device state after mains connection. In order to reach the
"ReadyToSwitchOn" state, it is sufficient to set the bit to 0 in one of the two
control words.
• Up to and including version 05.00.00 the following applies: This bit must be
set in the CAN OR MCI control word in order that the drive changes to the
"SwitchedOn" state after mains connection.
Bit 1 DisableVoltage 1 ≡ Inhibit inverter control (pulse inhibit)
Bit 2 SetQuickStop Activate quick stop (QSP)
Bit 3 EnableOperation 1 ≡ Enable controller (RFR)
• This bit must be set in CAN AND in the MCI control word, otherwise the
controller will be inhibited.
Bit 4 ModeSpecific_1 Reserved (currently not assigned)
Bit 5 ModeSpecific_2
Bit 7 ResetFault 1 ≡ Reset fault (trip reset)
• Acknowledge error message (if the error cause has been eliminated).
Bit 8 SetHalt 1 ≡ Activate stop function
• Stop drive via stopping ramp (in preparation).
Bit 9 reserved_1 Reserved (currently not assigned)
Bit 10 reserved_2
Bit 11 LenzeSpecific_1 Assignment depends on the selected technology application
Bit 12 LenzeSpecific_2 • See description of the corresponding technology application.
Bit 13 LenzeSpecific_3
Bit 14 SetFail 1 ≡ Set error (trip set)
Bit 15 LenzeSpecific_4 Assignment depends on the selected technology application
• See description of the corresponding technology application.
 Tip!
If a bus control is not wanted (e.g. in case of control via terminals):
Connect both control word inputs with the wDriveCtrl output signal of the LS_ParFix
system block. This output signal has the fixed value "9", which corresponds to the following
assignment:
• Bit 0, SwitchOn = 1
• Bit 3, EnableOperation = 1
• All others: 0
________________________________________________________________
4.4.2 wDeviceStatusWord status word
The wDeviceStatusWord status word provided by the control system contains all information
relevant for controlling the controller.
• The status word is sent as a process data word to the master control via a port block:
• The LP_CanOut1 port block if "CAN on board" is used or
• the LP_MciOut1 port block if a plugged-in communication module is used (e.g. PROFIBUS).
• Display parameter: C00150
• The bit assignment of the wDeviceStatusWord status word can be seen from the table below.
Bit Name Status

Bit 0 FreeStatusBit0 Free status bit 0
Bit 1 PowerDisabled 1 ≡ Inverter control inhibited (pulse inhibit is active)
Bit 2 FreeStatusBit2 Free status bit 2 (not assigned, freely assignable)
Bit 6 ActSpeedIsZero During open-loop operation:
1 ≡ Speed setpoint < Comparison value (C00024)
1 ≡ Actual speed value < Comparison value (C00024)
Bit 7 ControllerInhibit 1 ≡ Controller inhibited (controller inhibit is active)
Bit 8 StatusCodeBit0 Bit coded display of the active device status
Bit 9 StatusCodeBit1 Device state machine and device states (see table [4-1])
Bit 10 StatusCodeBit2
Bit 12 Warning 1 ≡ A warning is indicated
Bit 13 Trouble 1 ≡ Controller is in the "Trouble" device status
• E.g. if an overvoltage has occurred.
5 Motor control (MCTRL)
________________________________________________________________

This chapter provides information on the parameter setting of the controller's internal motor
control.
Topics:
Basic settings:
Motor selection/Motor data
Selecting the control mode
Defining current and speed limits
Description of the motor control types:
V/f characteristic control (VFCplus)
V/f characteristic control - energy-saving (VFCplusEco)
V/f control (VFCplus + encoder)
Sensorless vector control (SLVC)
Sensorless control for synchronous motors (SLPSM)
Parameterisable additional functions:
Selection of switching frequency
Operation with increased rated power
Flying restart function
DC-injection braking
Slip compensation
Oscillation damping
Phase sequence reversal for correcting misconnected UVW motor phases
Further topics:
Encoder/feedback system
Braking operation/brake energy management
Monitoring
Internal interfaces (process signals):
Internal interfaces | System block "LS_MotorInterface"
Internal status signals | System block "LS_DeviceMonitor"
5.1 Motor selection/Motor data
________________________________________________________________
The motor data term comprises all parameters that only depend on the motor and that only
characterise the electrical behaviour of the machine. The motor data are independent of the
application in which the controller and the motor are used.
 Proceed as follows to open the dialog for parameterising the motor data:
3. Go to the Overview dialog level and click the following button:
• Via the From Motor Catalogue button, the motor catalogue can be opened to select another
motor. Selecting a motor from the motor catalogue in the »Engineer« ( 109)
• Via the From drive... button, the motor data set in the controller can be copied to the »Engineer«
when an online connection has been established.
• When an online connection has been established to the controller, the Identification in
progress... button serves to automatically identify different motor data. Automatic motor
data identification ( 111)
• The Encoder/feedback system... button serves to get to the settings for the encoder/feedback
system, if available.Encoder/feedback system ( 220)
________________________________________________________________
 Stop!
Motors with electronic nameplates (ETS) must not be operated on 8400 controllers!
 Note!
Sensorless vector control (SLVC) and sensorless control for synchronous motors (SLPSM)
in particular requires the motor data parameters to be set. The motor data comprise the
data of the motor nameplate and the data of the motor equivalent circuit.
If the motor has been selected via the motor catalogue of the »Engineer« or the motor
data have been adapted offline using the »Engineer«, all motor data must then be
copied to the controller and saved power-failure-proof to the memory module (device
command: C00002/11) when an online connection has been established.
 Note!
Setting a rated motor frequency with a decimal position
If the motor has a rated motor frequency with a decimal position (e.g. motor nameplate
data "23.7 Hz"):
• Up to and including version 11.xx.xx, the following motor nameplate data must be
increased by a factor of 10:
• C00089: Rated motor frequency
(a value of "23.7 Hz", for instance, must be increased to 237 Hz.)
• C00081: Rated motor power
• C00087: Rated motor speed
• C00090: Rated motor voltage
• From version 12.00.00, the rated motor frequency must be entered without decimal
position to clearly identify the right motor type. (a value of "23.7 Hz", for instance,
must be set to 23 Hz in C00089)
• C01000 displays the set motor type (ASM or PSM).
• C00969 displays the set number of motor pole pairs.
• From version 14.00.00 onwards, the motor type (ASM or PSM) can also be set
manually in C01001/1 for a clear identification.
 Note!
If a rated motor speed is set for an asynchronous motor (ASM) in C00087 which
corresponds to a very high slip speed, the number of pole pairs is identified incorrectly.
Moreover, a synchronous motor (PSM) is detected instead of an asynchronous motor
(ASM) at certain slip speeds. Detailed information and possible remedies can be found
here:
Application notes for asynchronous motors with high slip speed ( 117)
________________________________________________________________
Motor data
In the parameterisation dialog, the data of the motor nameplate for the selected motor are
displayed under "Motor data".
Parameter Info
C00081 Rated motor power
C00087 Rated motor speed
C00088 Rated motor current
C00089 Rated motor frequency
C00090 Rated motor voltage
C00091 Motor cos ϕ
Actual values
When an online connection to the controller has been established, the following actual values are
displayed in the parameterisation dialog under "Actual values":
Parameter Info
C00051 Actual speed value
C00052 Motor voltage
C00053 DC-bus voltage
C00054 Motor current
C00066 Thermal motor load (I2xt)
Adapting motor data manually

If a third party manufacturer's motor is used, the displayed motor data can exactly be adapted to
the real motor by clicking the From project... button and selecting the "Own motor settings" entry
from the Motor selection dialog box afterwards. For this purpose, the data of the motor nameplate
and the equivalent circuit diagram must be available.
 Tip!
For a better concentricity factor, we recommend to perform motor parameter
identification of the third party manufacturer's motor first. The motor parameters can be
manually adapted afterwards.
Improving the concentricity factor includes
• the adjustment of the inverter error characteristic to the drive system and
• the knowledge of the motor cable resistance.
Both factors are determined in the course of motor parameter identification.
Automatic motor data identification ( 111)
________________________________________________________________
Other motor data

Click the Other motor data... button and go to the Other motor data dialog box including the motor
equivalent circuit (in the following for an asynchronous motor):
Parameter Info ASM PSM

C00084 Motor stator resistance  
C00085 Motor stator leakage inductance  
C00082 Motor rotor resistance 
C00095 Motor magnetising current 
C00092 Motor magnetising inductance 
C00015 VFC: V/f base frequency  
C00021 Slip compensation 
C00070/1 SLVC: Vp speed controller 
C00071/1 SLVC: Ti speed controller 
C00075 Vp current controller  
C00076 Ti current controller  
C00273 Moment of inertia  
C00016 VFC: Vmin boost  
C00070/3 SLPSM: Vp speed controller  
C00071/4 SLPSM: Ti speed controller  
C00011 Appl.: Reference speed  
C00022 Imax in motor mode  
C00966 VFC: Time const. slip comp. 
C00982 VFC-ECO: Voltage reduction ramp 
C00073/1 VFC: Vp Imax controller  
• From version 12.00.00 onwards, C01000 displays the set motor type (ASM or PSM).
• Generally, a synchronous motor without speed feedback can also be operated with the V/f
characteristic control (VFCplus) control mode. The parameters for this control mode (e.g. V/f
base frequency) thus also have an according influence on synchronous motors.
________________________________________________________________
5.1.1 Selecting a motor from the motor catalogue in the »Engineer«
If you, when inserting the controller into the project in the dialog step "Other components", put a
checkmark in the control field Motor, you can select as a further dialog step the motor for the
controller from the motor catalogue:
• Alternatively, the motor can be inserted into the project at a later time via the Insert a
component command.
• Go to the Application parameters tab in the Overview  Motor data dialog level and click the
From motor catalogue... button to also reach the motor catalogue for the selection of another
motor.
________________________________________________________________
Accepting the default values of the motor

If a motor is selected from the motor catalogue at a later time, the Use motor's default values dialog
box is displayed afterwards which includes all motor data of the selected motor. Please select here
which of the default values are to be copied to the controller:
• The listed motor parameters are already optimally preset for the selected Lenze motor. An
adaptation is not required.
• The "plant parameter" term comprises all parameters that result from the combination of
motor and load. These characterise the transfer behaviour of the entire controlled system.
• The plant parameters depend on the application in which the controller and motor are used.
• When a Lenze motor is selected in the »Engineer«, plant parameters are suggested for this
motor for a load-free operation.
 Tip!
If a third party manufacturer's motor is used, select a Lenze motor from the motor
catalogue first which is similar in terms of current, voltage and speed rating. Adapt the
preselected motor data exactly to the real motor afterwards.
________________________________________________________________
5.1.2 Automatic motor data identification
The motor parameter identification serves to automatically identify the inverter characteristic, the
influences of the motor cable and various motor parameters.
 Note!
We strongly recommend motor parameter identification before the initial
commissioning of the sensorless vector control (SLVC) and the sensorless control for
synchronous motors (SLPSM).
Automatically identified motor parameters

C00015 V/f base frequency  
C00016 Vmin boost  
C00021 Slip compensation 
C00082 Motor rotor resistance 
C00083 Motor rotor time constant 
C00084 Motor stator resistance  
C00085 Motor stator leakage inductance  
C00092 Motor magnetising inductance 
C00095 Motor magnetising current 
Automatic calculation of the current controller and field controller parameters

From version 12.00.00 onwards: Following successful motor parameter identification, the current
controller and field controller parameters listed in the below table are calculated as well.
• If these parameters are not to be calculated, bit 4 of C02865/1 must be set to "1".

C00073/1 VFC: Vp Imax controller  
C00075 Vp current controller  
C00076 Ti current controller  
________________________________________________________________
OPTIONAL: Automatic calculation of the speed controller parameters

From version 12.00.00 onwards: Following successful motor parameter identification, the speed
controller parameters listed in the below table can also be calculated automatically.
• If these parameters are to be calculated, bit 6 of C02865/1 must be set to "5".

C00070/1 SLVC: Vp speed controller 
C00071/1 SLVC: Ti speed controller 
C00070/3 SLPSM: Vp speed controller  
C00071/3 SLPSM: Ti speed controller  
• Care must be taken that the constant mass inertia of the drive (mass inertia of motor, gearbox,
shaft and constant load) is entered as exactly as possible in C00273 to calculate the speed
controller parameters as dynamically as possible.
• Mass inertias that are not constant (e.g. changing loads of reels or different loads of hoists)
must be entered in C00919/1.
• If the mass inertia set in C00273 is too low, the speed controller parameters are calculated
less dynamically.
• If the mass inertia set in C00273 is too high, speed controller operation is unstable.
• If the mass inertia in C00273 is set to "0", the setting of bit 5 in C02865 has no effect on the
speed controller parameter calculation. In this case, the speed controller parameters will not be
calculated automatically after motor parameter identification.
OPTIONAL: Automatic calculation of other controller parameters

From version 12.00.00 onwards: Following successful motor parameter identification, the controller
parameters listed in the below table can also be calculated automatically.

C00011 Appl.: Reference speed  
C00022 Imax in motor mode  
C00497 Nact filter time constant  
C00966 VFC: Time const. slip comp. 
C00982 VFC-ECO: Voltage reduction ramp 
________________________________________________________________
Principal sequence of the motor parameter identification

1. The motor stator resistance (C00084) is measured.
2. The inverter error characteristic is measured.
3. The motor stator leakage inductance (C00085) is measured.
4. The V/f base frequency (C00015) is calculated.
5. The slip compensation (C00021) is calculated.
6. The Vmin boost (C00016) is detected.
7. Only for asynchronous motors:
The motor magnetising inductance (C00092) and the motor rotor resistance (C00082) are
measured.
The motor magnetising current (C00095) is measured.
From version 12.00.00:

8. If C02865/1 - bit 4 = "0" (Lenze setting):
The current controller and field controller parameters are calculated. (See table.)
9. If C02865/1 - bit 5 = "1":
The speed controller parameters are calculated. (See table.)
10. If C02865/1 - bit 6 = "1":
Other controller parameters are calculated. (See table.)
Selection of the identification mode

From version 10.00.00 onwards, two identification modes are available in C02867/1:
• "1: Basic identification" (previous mode)
• Only for asynchronous motors
• Duration approx. 30 s
• "2: extended identification"
• Stands out due to increased accuracy of the determined motor parameters.
• Also supports synchronous motors and asynchronous motors with a power of more than 11
kW.
 Tip!
In the Lenze setting, a setting of "0: automatic" is selected in C02867/1. This setting ensures
that the controller automatically selects the optimum procedure for motor parameter
identification.
________________________________________________________________
Preconditions for executing the motor parameter identification

• The motor parameter identification must be carried out when the motor is cold!
• The load machine may remain connected. Holding brakes, if present, may remain in the braking
position.
• In case of a synchronous motor:
• The shaft must be able to rotate freely (must not be locked).
• An identification is only possible with the extended motor parameter identification.
• For an asynchronous motor from a power of 11 kW:
An identification is only possible with the extended motor parameter identification.
• The controller has to be ready for enable (has to be in the "SwitchedOn" state).
Inhibit the controller if it is enabled, e.g. via the C00002/16 device command or a LOW signal at
the X4/RFR terminal.
• The motor has to be at standstill.
Required parameter settings before the motor parameter identification is executed

• For an extended motor parameter identification, a motor control suitable for the motor has to
be set in C00006. When the identification starts, this setting determines whether an
asynchronous motor or a synchronous motor has to be identified. Selecting the control mode
( 118)
• The motor parameters listed in the table below are excluded from automatic identification and
must therefore be adapted to the used motor before motor parameter identification is carried
out (see motor nameplate).
Parameter Info
C00081 Rated motor power
C00088 Rated motor current (according to the connection method /)
NoteThe amplitude of the rated motor current (C00088) is injected to identify the stator
resistance. If the rated motor current amounts to less than 60 % of the rated inverter current,
at least 60 % of the rated inverter current will be injected to ensure sufficient motor
parameter identification accuracy.
C00089 Rated motor frequency (according to the connection method /)
C00090 Rated motor voltage (according to the connection method /)
C00091 Motor cos ϕ
• If the motor nameplate data are entered in the »Engineer« motor catalogue instead of selecting
a motor, it is recommendable to use the extended motor parameter identification
(C02867/1 = "2: extended identification").
• Especially for third-party motors, it is also recommendable to carry out the slip calculation with
the motor equivalent circuit diagram data (C02879/1). If the slip calculation is derived from the
motor nameplate data, this can negatively affect the stability and accuracy of the drive
behaviour because the rated speed specified on the motor nameplate often is rather inaccurate.
________________________________________________________________
• The available motor cable must be specified in terms of length and cross-section:
Parameter Info
C00915 Motor cable length
C00916 Motor cable cross-section
The motor cable resistance resulting from these settings is displayed in C00917.
• For the measurement of the required variables, the motor is energised via the controller
terminals U, V and W during the motor parameter identification. The corresponding current
controller is preset in the Lenze setting so that a optimal controller behaviour is achieved with
an asynchronous motor power-adapted to the controller.
Thanks to optimisation, the current controller can be set via the following parameters:

Value Unit
C00075 Vp current controller 7.00 V/A

C00076 Ti current controller 10.61 ms
• Switching frequency for the motor parameter identification:

• Up to and including version 13.xx.xx, the motor parameter identification is executed with a
switching frequency of 4 kHz.
• From version 14.00.00, the motor parameter identification can also be executed with a
switching frequency of 8 kHz instead of 4 kHz. For this purpose, the option "Motor ident.:
Switching frequency 8 kHz" (Bit 4 = "1") has to be set in C02864/1.
Example of how to use this option: Between the output of the inverter and the motor, a
sinusoidal filter is connected which may only be operated with a minimum switching
frequency of 8 kHz. (See also the section "Preventing a decrease of the switching frequency".)
( 203)
Generally, a switching frequency of 4 kHz is recommended for the motor parameter
identification as it serves to obtain the most accurate results.
Premature abort of the motor parameter identification
 Stop!
If motor parameter identification is aborted, unstable drive behaviour may be the result!
The motor parameter identification can be aborted in the following cases:

• If a special motor (e.g. mid-frequency motor) or a servo motor is used.
• If there is a large deviation between inverter and motor power.
In case of a simple motor parameter identification, we recommend the following:
• to reduce the P component Vp of the current controller (C00075) e.g. by halving.
• to increase the time constant Ti of the current controller (C00076) e.g. by doubling.
In case of the extended motor parameter identification, the current controller parameters are
determined automatically. If the identification is aborted all the same, the current controller
parameters set in C00075 and C00076 can be used by parameterising C02866 to "1".
Another cause for the abort of the motor parameter identification could be the implausibility of the
entered nameplate data, e.g. the entry P = 0 kW for the motor power.
________________________________________________________________
Execute automatic motor parameter identification
 Danger!
During motor parameter identification, the motor is energised via the outputs U, V and
W of the controller!
• Observe the corresponding safety instructions!
• With an idling motor, a small angular offset may occur at the motor shaft.
• During the motor parameter identification, rotations occur in case of a synchronous
motor.
 How to carry out automatic motor parameter identification:

1. Activate motor parameter identification via the C00002/23 = "1: On / start" device
command.
2. Enable controller.
• The controller changes to the "Ident" device status.
• Motor parameter identification starts.
• The progress of the identification run can be seen in C00002/23.
• The identification is completed if the "0: Off / ready" message is displayed in C00002/23.
• After successful identification, it changes back to the "SwitchedOn" device status.
3. Inhibit controller again.
________________________________________________________________
5.1.3 Application notes for asynchronous motors with high slip speed
 Note!
If a rated motor speed is set for an asynchronous motor (ASM) in C00087 which
corresponds to a very high slip speed, the number of motor pole pairs is identified
incorrectly.
Moreover, a synchronous motor is (PSM) is detected instead of an asynchronous motor
(ASM). In this case, the "Id7" error message can occur since motor and motor control type
do not match.
Examples, possible impacts and remedies are described in the following sections.
Examples:
Number of Mechanical Rated motor frequency Incorrect number of pole pairs if the
pole pairs synchronous speed (C00089) rated motor speed (C00087) is lower:
1 3000 rpm 50 Hz 1986 rpm
2 1500 rpm 50 Hz 1195 rpm
3 1000 rpm 50 Hz 854 rpm
4 750 rpm 50 Hz 665 rpm
Possible impacts depending on the motor control type:
Motor control type Possible impacts on the drive

V/f control (VFCplus + encoder) The motor can accelerate up to maximum speed of the motor.
Sensorless vector control (SLVC) The output speed is considerably too high.
V/f characteristic control (VFCplus) Example: p=2, fn=50 Hz, nn=1195 min-1  Speed is 50 % too high
Remedies:
• For version 12.xx.xx and version 13.xx.xx the following applies:
Limit the rated motor speed: C00087 = C00089 * 60 / (number of pole pairs + 0.5)
• From version 14.00.00:
Set the motor type ("ASM" or "PSM") manually in C01001/1. The rated motor speed does not
need to be limited since the number of pole pairs can be detected safely when the motor type
has been set manually.
5.2 Selecting the control mode
________________________________________________________________
The 8400 StateLine controller supports various modes for motor control (open loop or closed loop).
• V/f characteristic control (VFCplus) with linear characteristic for asynchronous motors is preset.
• The control mode can be selected in the »Engineer« on the Application parameter tab via the
Motor control (C00006) list field:
• A click on the Motor control... button leads you to the parameterisation dialog of the selected
motor control. (The button is labelled according to the selected motor control.)
 Tip!
In order to make the selection of the motor control easier, we provide a selection help with
recommendations and alternatives for standard applications in the subchapter entitled
"Selection help". ( 122)
The following section briefly describe the control modes. A reference to more details can be found
at the end of each section.
________________________________________________________________
V/f characteristic control (VFCplus)

The V/f characteristic control (VFCplus) is a motor control mode for standard frequency inverter
applications based on a simple and robust control process which is suitable for the operation of
asynchronous motors with linear or square-law load torque characteristic (e.g. fans). Furthermore,
this motor control mode is also suitable for group drives and special motors. Due to the low
parameterisation effort, commissioning of such applications is fast and easy.
The Vmin boost (C00016) and slip compensation (C00021) required for optimising the drive
behaviour are dimensioned for asynchronous motors with power adaptations to the inverter in the
Lenze setting.
V/f characteristic control (VFCplus) ( 126)
Energy-saving V/f characteristic control (VFCplusEco)

From version 10.00.00
In contrast to the V/f characteristic control mode (VFCplus), this motor control mode uses a cosϕ
control in partial load operational range to automatically reduce the power loss in the asynchronous
motor (energy optimisation).
The motor data required for the cosϕ control and the V min boost (C00016) and slip compensation
(C00021) required for optimising the drive behaviour are dimensioned for asynchronous motors
with power adaptations to the inverter in the Lenze setting.
The required motor data (motor rotor resistance, motor stator resistance, motor stator leakage
inductance and mutual motor inductance) only affect the extent of energy optimisation but not the
stability.
In case of applications with dynamically very high sudden load variations from the unloaded
operation, this motor control mode should not be used since a motor stalling cannot be excluded.
Energy optimisation for dynamic applications is not possible with this motor control mode.
V/f characteristic control - energy-saving (VFCplusEco) ( 144)
V/f control (VFCplus + encoder)

The V/f control can be selected for operating asynchronous motors with speed feedback. With this
motor control, a slip regulator can be additionally parameterised which adjusts the actual speed
value dynamically to the speed setpoint.
V/f control (VFCplus + encoder) ( 154)
________________________________________________________________
Sensorless vector control (SLVC)

Sensorless (field-oriented) vector control for asynchronous motors is based on a decoupled,
separate control for the torque-producing and the field-producing current component. In addition,
the actual speed is reconstructed by means of a motor model so that a speed sensor is not required.
In comparison to the V/f characteristic control without feedback, the following can be achieved by
means of sensorless vector control SLVC:
• A higher maximum torque throughout the entire speed range
• A higher speed accuracy
• A higher concentricity factor
• A higher level of efficiency
• The implementation of torque-actuated operation with speed limitation
• The limitation of the maximum torque in motor and generator mode for speed-actuated
operation
 Tip!
If a high torque without feedback is to be provided at small speeds, we recommend the
"Sensorless vector control" motor control mode.
Sensorless vector control (SLVC) ( 161)
Sensorless control for synchronous motors (SLPSM)

This sensorless control enables an encoderless control of synchronous motors. The process is based
on field-oriented control within a higher speed range (e.g. > 10 % of the rated motor speed). The
actual speed value and rotor position are reconstructed via a motor model.
Standard applications for this control type are pumps and fans, horizontal materials handling and
simple positioning technology.
Sensorless control for synchronous motors (SLPSM) ( 177)
________________________________________________________________
Speed feedback
As shown in the following graphics, the drive systems with feedback have, independently of the
motor control, more advantages than systems without feedback.
V/f characteristic control (VFCplus) V/f control (VFCplus + encoder)
M M
1 0 1 0
MN MN
-nN nN n -nN nN n
-MN -MN
2 3 2 3
9300vec092 9300vec093
 Operation in motor mode (CW rotation),  Operation in generator mode (CCW rotation),
 Operation in motor mode (CCW rotation),  Operation in generator mode (CW rotation)
Sensorless vector control (SLVC) Sensorless control for synchronous motors (SLPSM)
M M
1 0 1 0
MN
-nN nN n n
-MN
2 3 2 3
9300vec095
 Operation in motor mode (CW rotation),  Operation in generator mode (CCW rotation),
 Operation in motor mode (CCW rotation),  Operation in generator mode (CW rotation)
________________________________________________________________
5.2.1 Selection help
To ease the selection of the motor control mode, the two following tables contain
recommendations and alternatives to standard applications.
Application recommended Alternatively

Single drives
With constant load VFCplus: V/f linear SLVC or SLPSM
With extremely alternating loads VFCplus: V/f linear SLVC
With high starting duty SLVC VFCplus: V/f linear
Torque limitation SLVC SLPSM
With torque limitation (power control) VFCplus: V/f linear SLPSM
Three-phase reluctance motor VFCplus: V/f linear -
Three-phase sliding rotor motor VFCplus: V/f linear -
Three-phase AC motors with permanently assigned VFCplus: V/f linear -
frequency/voltage characteristic
Pump and fan drives with quadratic load characteristic VFCplus: U/f square-law SLVC or SLPSM
onwards:
VFCplusEco
Simple hoists VFCplus: V/f linear -
Group drives (several motors connected to controller)
Identical motors and loads VFCplus: V/f linear -
Different motors and/or alternating loads VFCplus: V/f linear -
[5-1] Standard applications without speed feedback
Application recommended Alternatively

Single drives
With constant load VFCplus: V/f linear SLVC
With extremely alternating loads VFCplus: V/f linear SLVC
With high starting duty VFCplus: V/f linear SLVC
With speed control (speed feedback) VFCplus: V/f linear -
With high dynamic performance e.g. for positioning and VFCplus: V/f linear -
infeed drives
Torque limitation VFCplus: V/f linear SLVC
With torque limitation (power control) - -
Winder with dancer position control VFCplus: V/f linear -
Unwinder with dancer position control VFCplus: V/f linear -
Three-phase reluctance motor - -
Three-phase sliding rotor motor - -
Three-phase AC motors with permanently assigned - -
frequency/voltage characteristic
Pump and fan drives with quadratic load characteristic - -
Simple hoists VFCplus: V/f linear -
Group drives (several motors connected to controller)
Identical motors and loads VFCplus -
Different motors and/or alternating loads VFCplus -
[5-2] Standard applications with speed feedback
5.3 Defining current and speed limits
________________________________________________________________
Limitation of the speed setpoint

Parameterising the reference speed in C00011 means that the drive must rotate at the set speed if
a speed setpoint of 100% is specified.
All speed setpoint selections are provided in % and always refer to the reference speed set in
C00011.
 Tip!
For reasons of achievable resolution and the accuracy involved, the reference speed should
be geared to the speed range required for the respective application.
Lenze recommendation: Reference speed (C00011) = 1500 ... 3000 rpm
Irrespective of the selected motor control, there are more limitation options:

Value Unit
C00909/1 Max. positive speed 120 %

C00909/2 Max. negative speed 120 %
C00910/1 Max. positive output frequency 1000 Hz
C00910/2 Max. negative output frequency 1000 Hz
 Note!
In the torque-controlled operation (bTorquemodeOn = TRUE), the limitation of the speed
setpoint set in C00909/x has no impact!
For the torque-controlled operation, a permissible speed range can be defined via the
speed limitation (inputs nSpeedHighLimit_a and nSpeedLowLimit_a at the
SB LS_MotorInterface).
For a correct function of the speed limitation in both direction, the following applies:
The speed limitation operates with a internal hysteresis of 50 min-1. The upper or lower
speed limit resulting from the settings has to be higher than this hysteresis!
________________________________________________________________
Current limitation in motor and generator mode

In the various motor control modes, the controller is provided with functions which determine the
dynamic behaviour under load and counteract exceedance of the maximum current in motor or
generator mode.

Value Unit
C00022 Imax in motor mode 47.00 A

C00023 Imax in generator mode 100 %
• 100 % ≡ Imax in motor mode (C00022)
The current limits must be selected depending on

• the permissible maximum current of the motor  recommendation: I(Mot)N < 1.5 ... 2.0
• the permissible maximum current of the inverter
• the torque in motor/generator mode required for the application
 Note!
Highly dynamic applications
(that have e.g. too short acceleration/deceleration times or excessively changing loads)
The overcurrent disconnection may respond (fault message oC1 or oC11) if the setting of
the maximum current in motor mode in C00022 approximately corresponds to the
maximum permissible value of the respective inverter.
Remedies:
• Increase of the acceleration and deceleration ramp times
• Reduction of the maximum current in motor mode (C00022)
• Reduction of the maximum current in generator mode (C00023)
• Adaptation of the indirect peak current limitation (procedure depends on the selected
motor control mode, see below)
• Reduction of the reset time of the current limiting controller (C00074/1)
Influencing the torque in motor/generator mode

The torque in motor and generator mode can be limited via the nTorqueMotLim and
nTorqueGenLim process signal inputs.
• If V/f characteristic control (VFCplus) is selected, limitation is indirectly performed via
a so-called Imax controller.
• If sensorless vector control (SLVC) and sensorless control for synchronous motors
(SLPSM) is selected, limitation has a direct effect on the torque-producing current
component.
If keypad control is selected, the nTorqueMotLim and nTorqueGenLim process signals can
be parameterised via C00728/1...2.
________________________________________________________________
 How to adapt the peak current limitation:

V/f characteristic control (VFCplus):
• Reduce the slip compensation with C00021.
V/f control (VFCplus + encoder):
• Reduce the slip limitation to twice the rated motor slip with C00971.
• Reduce the Vmin boost in C00016.
Sensorless vector control (SLVC):
• Reduce the slip compensation with C00021.
• Reduce the limitation of the torque in motor mode via nTorqueMotLimit_a (C00728/1)
and the limitation of the torque in generator mode via nTorqueGenLimit_a (C00728/2).
5.4 V/f characteristic control (VFCplus)
________________________________________________________________
In case of the V/f characteristic control (VFCplus), the motor voltage of the inverter is determined by
means of a linear or quadratic characteristic depending on the field frequency or motor speed to be
generated. The voltage follows a preselected characteristic.
 Stop!
• The V/f characteristic control is only suitable for asynchronous motors.
• The following must be observed when operating drives with quadratic V/f
characteristic:
• Please always check whether the corresponding drive is suitable for operation with
a quadratic V/f characteristic!
• If you pump or fan drive is not suitable for operation with a square-law V/f
characteristic, we recommend using the energy-saving V/f characteristic control
(VFCplusEco). Alternatively, you can use the V/f characteristic control with linear
V/f characteristic or the sensorless vector control (SLVC).
• For adjustment, observe the thermal performance of the connected asynchronous
motor at low output frequencies.
• Usually, standard asynchronous motors with insulation class B can be operated for
a short time with their rated current in the frequency range 0 Hz ... 25 Hz.
• Contact the motor manufacturer to get the exact setting values for the max.
permissible motor current of self-ventilated motors in the lower speed range.
• If you select square-law V/f characteristics, we recommend setting a lower Vmin or
using the energy-saving V/f characteristic control (VFCplusEco).
• The nameplate data of the motor (at least rated speed and rated frequency) must be
entered if, instead of a standard motor, an asynchronous motor is used with the
following values:
• rated frequency ≠ 50 Hz (star) or
• rated frequency ≠ 87 Hz (delta) or
• number of pole pairs ≠ 2
 Note!
When the auto DCB threshold (C00019) is set > 0 rpm, there is no torque at the motor
shaft in the lower speed range!
Automatic DC-injection braking (Auto-DCB) ( 212)
________________________________________________________________
5.4.1 Parameterisation dialog/signal flow
 Proceed as follows to open the dialog for parameterising the motor control:
3. Select the motor control from the Overview dialog level in the Motor control list field:
• "6: VFCplus: V/f linear" for linear characteristic or
• "8: VFCplus: V/f quadr" for square-law characteristic
More available V/f characteristic control modes:
• "10: VFCplus: U/f definable" (from version 04.00.00 onwards).
With this motor control, the V/f characteristic can be freely defined. Defining a user-
defined V/f characteristic ( 140)
• "11: VFCplusEco: V/f energy-saving" (from version 10.00.00 onwards).
With this motor control, the motor is always operated in an optimal efficiency range via
a cosϕ control and the resulting voltage reduction (reduced copper losses in the
asynchronous motor). V/f characteristic control - energy-saving (VFCplusEco) ( 144)
4. Click the Motor control V/f button to change to the Overview  Motor control V/f dialog
box.
• This dialog level only shows a simplified signal flow with the most important
parameters.
• When you click the >>More details button in the left-most position, a signal flow with
more details/parameters is displayed.
128
________________________________________________________________
5.4
5
Motor control (MCTRL)
Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14
Parameter Info Parameter Info Parameter Info

1 C00056/2 Actual torque value 13 C00021 Slip compensation 18 C00056/2 Actual torque value
2 C00830/29 Limitation of torque in motor mode 14 C00051 Actual speed value 19 C00058 Output frequency
3 C00830/28 Limitation of torque in generator mode 15 C00050 Speed setpoint 20 C00006 Motor control
4 C00054 Motor current 16 C00910/1 Max. pos. output frequency 21 C00830/26 MCTRL: nBoost_a
5 C00022 Imax in motor mode 17 C00910/2 Max. neg. output frequency 22 C00015 V/f base frequency
6 C00023 Imax in generator mode 23 C00016 Vmin boost
7 C00074 Ti Imax controller 24 C00018 Switching frequency
8 C00073 Vp Imax controller 25 C00830/32 MCTRL: nPWMAngleOffset_a
9 C00830/22 Speed setpoint 26 C00830/31 MCTRL: nVoltageAdd_a
10 C00909/1 Max. pos. speed 27 C00052 Motor voltage
11 C00909/2 Max. neg. speed
12 C00105 Decel. time - quick stop
________________________________________________________________
5.4.2 Basic settings
The "Initial commissioning steps" listed in the table below are sufficient for a simple characteristic
control.
• Detailed information on the individual steps can be found in the following subchapters.
Initial commissioning steps

1. Defining the V/f characteristic shape. ( 130)
2. Defining current limits (Imax controller). ( 131)
 Tip!
Information on the optimisation of the control mode and the adaptation to the real
application is provided in chapter "Optimising the control mode". ( 132)
Parameterisable additional functions are described correspondingly in the chapter
"Parameterisable additional functions". ( 202)
________________________________________________________________
5.4.2.1 Defining the V/f characteristic shape

In principle, four different characteristic shapes can be stipulated:
1. Linear V/f characteristic:
For drives for a constant, speed-independent load torque.
2. Quadratic V/f characteristic:
For drives with a load torque curve which is quadratic or in relation to speed. Quadratic V/f
characteristics are preferred in the case of centrifugal pumps and fan drives.
3. User-definable V/f characteristic (from version 04.00.00 onwards):
For drives that require adaptation of the magnetising current by means of the output speed. The
freely definable V/f characteristic can be used e.g. for operation in conjunction with special
machines such as reluctance motors in order to suppress oscillations at the machine or to
optimise energy consumption.
Uout Uout
100 % 100 %
Umin Umin
0 0
0 1 n 0 1 n
nN nN
[5-3] Principle of a linear V/f characteristic (on the left) and a quadratic V/f characteristic (on the right)
4. Linear V/f characteristic with voltage reduction (from version 10.00.00 onwards):
For drives which often work in partial load operation, the energy-saving V/f characteristic
control (VFCplusEco) offers the opportunity to reduce the voltage at low load in order to save
energy. At higher loads, the voltage reduction is cancelled and a linear characteristic is caused.
The V/f characteristic shape is defined by selecting the corresponding motor control mode in
C00006:
V/f characteristic shape Motor control to be selected (C00006)

Linear V/f characteristic 6: VFCplus: V/f linear
Square-law V/f characteristic 8: VFCplus: V/f quadr
User-definable V/f characteristic 10: VFCplus: V/f definable
Linear V/f characteristic with voltage reduction 11: VFCplusEco: V/f energy-saving
 Tip!
• You can find detailed information on freely definable V/f characteristics in the
subchapter entitled "Defining a user-defined V/f characteristic". ( 140)
• You can find detailed information on the linear V/f characteristic with voltage reduction
in the chapter entitled "V/f characteristic control - energy-saving (VFCplusEco)". ( 144)
________________________________________________________________
5.4.2.2 Defining current limits (Imax controller)

The V/f characteristic control (VFCplus) and the V/f control (VFCplus + encoder) operating modes
are provided with a current limitation control which is decisive for the dynamic behaviour under
load and counteracts exceedance of the maximum current in motor or generator mode. This current
limitation control is called Imax control.
• The efficiency (motor current) measured by the Imax control is compared with the current limit
value for motor load set in C00022 and the current limit value for generator load set in C00023.
• If the current limit values are exceeded, the controller changes its dynamic behaviour.
Motor overload during acceleration

The controller prolongs the acceleration ramp to keep the current on or below the current limit.
Generator overload during deceleration

The controller prolongs the deceleration ramp to keep the current on or below the current limit.
Increasing load with constant speed

• If the motor current limit value is reached:
• The controller reduces the effective speed setpoint until a stable working point is set or an
effective speed setpoint of 0 rpm is reached.
• If the load is reduced, the controller increases the effective speed setpoint until the setpoint
speed is reached or the load reaches the current limit value again.
• When the generator current limit value is reached:
• The controller increases the effective speed setpoint until a stable working point is set or the
maximally permissible speed (C00909) or output frequency is reached (C000910).
• If the load is reduced, the controller reduces the effective speed setpoint until the setpoint
speed is reached or the load reaches the current limit value again.
• If a sudden load is built up at the motor shaft (e.g. drive is blocked), the overcurrent
disconnection may respond (fault message oC1 or oC11).
________________________________________________________________
5.4.3 Optimising the control mode
The V/f characteristic control (VFCplus) is generally ready for operation. It can be adapted
subsequently by adapting the characteristic and/or the drive behaviour.
 Note!
Following successful motor parameter identification, the V/f base frequency (C00015)
and the Vmin boost (C00016) as well as the slip constant for slip compensation (C00021)
are calculated automatically.
• Following successful motor parameter identification, the gain of the Imax controller
(C00073/1) is calculated automatically.
• Following successful motor parameter identification, other controller parameters
(C00011, C00022, C00966) can be calculated automatically.
Adapting characteristic
For the linear and quadratic characteristic, it is also possible to match its curve to different load
profiles or motors by adapting the V/f base frequency (C00015) and the Vmin boost (C00016).
Adapting the V/f base frequency ( 133)
Adapting the Vmin boost ( 135)
Freely defining the characteristic

From version 04.00.00 onwards, the V/f characteristic can also be defined freely if the linear and
square-law characteristic are not suitable.
Defining a user-defined V/f characteristic ( 140)
Adapting drive behaviour

• Limitation of the maximum current by a current limitation controller (e.g. to prevent the motor
from stalling or to limit to the maximally permissible motor current).Optimising the Imax
controller ( 136)
• Adaptation of the field frequency by a load-dependent slip compensation (improved speed
accuracy for systems without feedback)
• Adaptation of the controller parameters of the slip regulator if V/f control (VFCplus + encoder)
is selected. Parameterising the slip regulator ( 158)
________________________________________________________________
5.4.3.1 Adapting the V/f base frequency

The V/f base frequency (C00015) determines the slope of the V/f characteristic and has
considerable influence on the current, torque, and power performance of the motor.
• The setting in C00015 applies to all permitted mains voltages.
• Mains fluctuations or fluctuations of the DC-bus voltage (operation in generator mode) do not
need to be considered when the V/f base frequency is set. They are automatically compensated
for by the internal mains voltage compensation of the device.
• Depending on the setting in C00015, it may be required to adapt the reference speed (C00011)
to traverse the entire speed range of the motor.
• The V/f base frequency is automatically calculated from the stored motor nameplate data by
the motor parameter identification:
U FI [V]
C00015 [Hz] = ---------------------------------- ⋅ f Rated Hz
U Ratedmot [V]
VFI: Mains voltage 400 V or 230 V
Vratedmot: Rated motor voltage depending on the connection method
frated: Rated motor frequency
[5-4] Calculation of the V/f base frequency
Typical values of the V/f base frequency
Drive controller with 400 V mains connection

Motor voltage [V] Motor frequency [Hz] Motor connection V/f base frequency
(C00015)
230 / 400 50  50 Hz
220 / 380 50  52.6 Hz
280 / 480 60  50 Hz
400 / 690 50  50 Hz
400 50
230 / 400 50  87 Hz
280 / 480 60
400 87
220 / 380 50  90.9 Hz
Drive controller with 230 V mains connection

Motor voltage [V] Motor frequency [Hz] Motor connection V/f base frequency
(C00015)
230 50  50 Hz
220 / 380 50  52.3 Hz
________________________________________________________________
 Note!
87-Hz operation
4-pole asynchronous motors which are designed for a rated frequency of f = 50 Hz in star
connection can be operated in delta connection when being constantly excited up to f =
87 Hz.
• Advantages:
• Higher speed-setting range
• 73% higher power output in case of standard motors
• Motor current and motor power increase by the factor 3 .
• The field weakening range starts above 87 Hz.
• Generally, this process can also be used with motors which have different numbers of
pole pairs. In case of 2-pole asynchronous motors, the mechanical limit speed must be
maintained.
________________________________________________________________
5.4.3.2 Adapting the Vmin boost

The Vmin boost (C00016) of the motor voltage serves to select a load independent magnetising
current which is required for asynchronous motors. The torque behaviour of the motor can be
optimised by adapting the setting in C00016.
The nBoost_a process signal at the SB LS_MotorInterface serves to carry out a Vmin boost as well:

nBoost_a Process signal for the Vmin boost

C00830/26 | INT • This signal is added to C00016 and has thus an increasing or decreasing effect.
• This signal serves to implement a load-dependent Vmin boost to improve the
torque behaviour in different load states, as for instance in case of operation in
generator or motor mode.
• Scaling: 16384 ≡ 100 % rated device voltage VFU (400 V or 230 V)
 Stop!
Values selected too high may cause the motor to heat up due to the resulting
current!
 Note!
The Vmin boost has an effect on output frequencies below the V/f base frequency
(C00015).
The general linear and quadratic V/f characteristics are shown in the illustrations below. The
illustrations show the impacts of the parameters used to adapt the characteristic shape.
V out [V] 1/N/PE AC 264 V V out [V]

3/PE AC 264 V 1/N/PE AC 264 V
3/PE AC 550 V 3/PE AC 264 V
3/PE AC 550 V
V rmot V rmot
(100 %) (100 %)
1/N/PE AC 180 V 1/N/PE AC 180 V
3/PE AC 100 V 3/PE AC 100 V
3/PE AC 320 V 3/PE AC 320 V
C00016 C00016
C00016
2
C00015 C00015 f [Hz] C00015 f [Hz]
2
[5-5] Representation of the linear V/f characteristic (on the left) and quadratic V/f characteristic (on the right)
 How to set the V minboost:

1. Operate motor in idle state at approx. 6 % of the rated motor speed.
2. Increase Vmin boost (C00016) until the following motor current is reached:
Motor in short-time operation up to 0.5 nrated
• for self-ventilated motors: Imotor ≈ Irated motor
• for forced ventilated motors: Imotor ≈ Irated motor
________________________________________________________________
Motor in continuous operation up to 0.5 nrated

• for self-ventilated motors: Imotor ≈ 0.8 Irated motor
• for forced ventilated motors: Imotor ≈ Irated motor
 Note!
Vmin boost is automatically calculated by the motor parameter identification using the
data specified on the motor nameplate so that a no-load current of approx. 0.8 Irated
motor results at the slip frequency of the machine.

If V/f control (VFCplus + encoder) is selected, we recommend a decidedly lower Vmin
boost:
• In this case, select a Vmin boost which ensures that approx. 50 % of the rated motor
current flows at slip frequency when the motor is idling.
5.4.3.3 Optimising the Imax controller

Using the Lenze setting of the current limitation controller, the drive is stable:

Value Unit
C00073/1 VFC: Vp Imax controller 0.25

C00074/1 VFC: Ti Imax controller 65 ms
Most applications do not require optimisation.

The setting of the current limitation controller must be adapted if
• power control including great moments of inertia is performed.
• Recommendation: Increase of the reset time Ti (C00074/1) of the Imax controller.
• vibrations occur in the V/f control (VFCplus + encoder) mode during the intervention of the
current limitation controller.
• Recommendation: Increase of the reset time Ti (C00074/1) of the Imax controller.
• overcurrent errors (e.g. OC3) occur due to load impulses or too high acceleration ramps.
• Recommendation: Reduction of the gain Vp (C00073/1) and reset time Ti (C00074/1) of the
Imax controller.
________________________________________________________________
5.4.3.4 Optimising the stalling behaviour

Motor stalling due to a torque overload in the field weakening range is prevented in all
characteristic-based motor control types (VFCplus) by means of an inverter-internal stalling current
monitoring. In the field weakening range, hence at frequencies above the base frequency, it reduces
the maximum current to prevent the motor from stalling. The reduction depends on the current
field frequency, the base frequency, the DC-bus voltage and the maximum current (C00022).
Generally it applies that a higher field frequency causes a stronger limitation of the maximum
current.
The behaviour in the field weakening range can be adapted via the override point of field weakening
(C00080). This parameter serves to shift the frequency-dependent maximum current characteristic:
• C00080 > 0 Hz:
• The maximum current characteristic is shifted by the entered frequency to higher field
frequencies.
• The maximally permissible current and the maximum torque increase in the field weakening
range.
• The risk of motor stalling increases.
• C00080 < 0 Hz:
• The maximum current characteristic is shifted by the entered frequency to lower field
frequencies.
• The maximally permissible current and the maximum torque are reduced in the field
weakening range.
• The risk of motor stalling is reduced.
 Note!
We recommend to keep the Lenze setting (0 Hz).
________________________________________________________________
5.4.3.5 Torque limitation

The previous chapter, "Optimising the Imax controller", describes how the drive can be protected
from overload. During commissioning, these settings are carried out once and remain unchanged
afterwards. However, it is often necessary to limit the torque to a lower value for plant or process
reasons.
• To avoid overload in the drive train, the torque in motor mode can be limited via the
nTorqueMotLimit_a process input signal, and the torque in generator mode can be limited via
the nTorqueGenLimit_a process input signal:

nTorqueMotLimit_a Torque limitation in motor mode

C00830/29 | INT • Scaling: 16384 ≡ 100 % Mmax (C00057)
• Setting range: 0 … +199.99 %
• If keypad control is performed: Parameterisable via C00728/1.
nTorqueGenLimit_a Torque limitation in generator mode
• Setting range: -199.99 ... 0 %
 Note!
• The actual torque (C00056/2) is directly calculated from the current slip speed of the
machine. This requires correct entry of the motor data. Motor selection/Motor data
( 105)
• To avoid instabilities during operation with active slip compensation, the torque limit
values are internally processed as absolute values.
• If slip compensation is deactivated (C00021 = 0), indirect torque limitation
(differential signal between apparent motor current and nTorqueMotLimit_a or
nTorqueGenLimit_a) occurs. Above the no-load current of the motor, the accuracy of
the indirect torque limitation is limited.
________________________________________________________________
V/f characteristic control (VFC)

The accuracy of the torque limitation is limited because the actual torque (C00056/2) is only
calculated from the slip speed measured indirectly via the motor current.
V/f control (VFC + encoder)

The slip speed of the motor is available at the slip controller output. This leads to a high accuracy for
the actual torque (C00056/2) and the torque limitation.
[5-6] Extract from the signal flow of the V/f control (VFC + encoder)
Parameter Info Parameter Info

1 C00056/2 Actual torque value 9 C00830/22 MCTRL: nSpeedSetValue_a
2 C00830/29 Limitation of torque in motor mode 10 C00909/1 Max. pos. speed
3 C00830/28 Limitation of torque in generator mode 11 C00909/2 Max. neg. speed
4 C00054 Motor current 12 C00105 Decel. time - quick stop
5 C00022 Imax in motor mode 13 C00050 Speed setpoint
6 C00023 Imax in generator mode
7 C00074 Ti Imax controller
8 C00073 Vp Imax controller
________________________________________________________________
5.4.3.6 Defining a user-defined V/f characteristic

This function extension is only available from version 04.00.00!
For individual adaptation of the motor magnetisation to the actual application, the motor control
"10: VFCplus: V/f definable" with a freely definable characteristic can be selected in C00006 as an
alternative if the linear and quadratic characteristics are not suitable.
 Note!
The V/f base frequency (C00015) and the Vmin boost (C00016) no longer exert an
influence if this motor control is chosen.
• The 11 grid points (voltage/frequency values) of the characteristic are selected via the 11
subcodes of C00967 and C00968.
• It is necessary to set all 11 grid points by means of corresponding subcodes.
• If fewer grid points (voltage/frequency values) are needed, this can be achieved indirectly by
ascribing the same voltage and frequency values to consecutive grid points.
Example: C00967/3 = C00967/4 and C00968/3 = C00968/4
• The grid points can be specified in any sequence. Internally, they are automatically ordered
from the minimum to the maximum frequency value.
• Above the maximum and below the minimum frequency, the previous rise is continued until
the maximum output voltage.
• In the Lenze setting, the 11 grid points represent a linear characteristic.
• 3-phase devices: Output voltage 400 V at f = 50 Hz
• 1-phase devices: Output voltage 230 V at f = 50 Hz
U [V]
C00967/1 C00967/11
C00968/1 C00968/11
P1 C00967/2 400 P11
C00968/2
P2 C00967/3 320 P10

C00968/3
P3 240 P9
P4 160 P8
P5 80 P7
P6
-50 -40 -30 -20 -10 0 10 20 30 40 50 f [Hz]
P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11
V 400 V 320 V 240 V 160 V 80 V 0V 80 V 160 V 240 V 320 V 400 V
f -50 Hz -40 Hz -30 Hz -20 Hz -10 Hz 0 Hz 10 Hz 20 Hz 30 Hz 40 Hz 50 Hz
[5-7] Freely definable characteristic (Lenze setting for 3-phase devices)
________________________________________________________________
 Tip!
Cases of application for this function:
• Operation of reluctance motors or synchronous motors during controlled acceleration
(reduction of natural frequencies caused by wrong excitation).
• Adaptation of the voltage requirement for the motor, depending on specific load
conditions.
3. Select the motor control "10: VFCplus: V/f definable" from the Overview dialog box in the
Motor control list field:
4. Click the Motor control V/f definable button to change to the Overview  Motor control V/f
dialog box.
parameters.
142
________________________________________________________________
5.4
5

1 C00056/2 Actual torque value 13 C00021 Slip compensation 18 C00967/x Frequency interpol. points
2 C00830/29 Limitation of torque in motor mode 14 C00051 Actual speed value 19 C00968/x Voltage interpol. points
3 C00830/28 Limitation of torque in generator mode 15 C00050 Speed setpoint 20 C00056/2 Actual torque value
4 C00054 Motor current 16 C00910/1 Max. pos. output frequency 21 C00058 Output frequency
5 C00022 Imax in motor mode 17 C00910/2 Max. neg. output frequency 22 C00018 Switching frequency
6 C00023 Imax in generator mode 23 C00830/32 MCTRL: nPWMAngleOffset_a
7 C00074 Ti Imax controller 24 C00830/31 MCTRL: nVoltageAdd_a
8 C00073 Vp Imax controller 25 C00052 Motor voltage
9 C00830/22 Speed setpoint
10 C00909/1 Max. pos. speed
11 C00909/2 Max. neg. speed
12 C00105 Decel. time - quick stop
________________________________________________________________
5.4.4 Remedies for undesired drive behaviour
Drive behaviour Remedy

Inadequate smooth running at low speeds, especially in Automatic motor data identification ( 111)
the case of operation with a long motor cable
Problems in case of high starting duty (great mass Adapting the Vmin boost ( 135)
inertia)
Drive does not follow the speed setpoint. The current controller intervenes in the set field
frequency to limit the controller output current to the
maximum current (C0022, C0023). Therefore:
• Prolong acceleration/deceleration times:
C00012: Accel. time - main setpoint
C00013: Decel. time - main setpoint
• Consider a sufficient magnetising time of the motor.
Depending on the motor power, the magnetising
time amounts to 0.1 ... 0.2 s.
• Increase the maximally permissible current:
C00022: Imax in motor mode
C00023: Imax in generator mode)
For operation without speed feedback (C00006 = 6): • Increase slip compensation (C00021).
Insufficient speed constancy at high load (setpoint and Important: Unstable drive due to overcompensation!
motor speed are not proportional anymore) • With cyclic load impulses (e. g. centrifugal pump), a
smooth motor characteristic is achieved by smaller
values in C00021 (possibly negative values).
Note: The slip compensation is only active for operation
without speed feedback.
"Clamp operation active" error message (oC11): • Increase the gain of the Imax controller (C00073/1)
Controller cannot follow dynamic processes, i.e. too • Reduce the reset time of the Imax controller
short acceleration/deceleration times in terms of load (C00074/1)
ratios. • Prolong the acceleration time (C00012)
• Prolong the deceleration time (C00013)
Motor stalling in the field weakening range • Reduce the override point of field weakening
(adaptation especially required for small machines) (C00080)
• If motor power < inverter power:
Set C00022 to Imax = 2 Irated motor
• Reduce dynamic performance of setpoint generation
5.5 V/f characteristic control - energy-saving (VFCplusEco)
________________________________________________________________
With the energy-saving V/f characteristic control mode (VFCplusEco), the motor voltage of the
inverter is detected by means of a linear characteristic depending on the field frequency to be
created or the motor speed. Moreover, a cosϕ control and the resulting voltage reduction causes the
motor to be always operated in the optimum efficiency range (reduction of copper losses in the
asynchronous motor).
• Hence, these are the advantages of this motor control mode:
• Good robustness
• Easy parameter setting
• High energy efficiency (lower heating of the motor in partial load operational range)
• Same speed accuracy and maximum torques as with VFCplus
• Less noise generation of the motor with active voltage reduction
• Predestinated application areas of this motor control mode are materials handling technology
and pump and fan systems.
• This motor control mode serves to improve efficiency of standard asynchronous motors with
efficiency class IE1 (standard IEC 60034-30 2008) in the range 0 … Mefficiency_max between
0 … 20 % (Ø 5 … 10 %).
• For asynchronous motors with energy efficiency class IE2 the potential for efficiency
improvement is reduced to approx. 0 ... 15 %.
• Description of Mefficiency_max: Indicates the torque [%] of Mrated_motor, where the motor has
the max. efficiency.)
• In case of asynchronous motors with a higher energy efficiency class (IE2 and IE3), the absolute
energy saving of the motor control mode is lower due to improved efficiency of the machine.
However, energy saving is still achieved in a higher load range.
• Mefficiency_max is performance-related and listed in the following table for some power values
of the energy efficiency class IE1 and IE2:
MEfficiency_max
(related to Mrated_motor)
Power IE1 IE2
0.25 kW 75 %
0.75 kW 65 % 75 %
2.2 kW 55 % 85 %
7.5 kW 30 % 45 %
22 kW 23 %
45 kW 21 %
________________________________________________________________
 Stop!
• For adjustment, observe the thermal performance of the connected asynchronous
motor at low output frequencies.
• Usually, standard asynchronous motors with insulation class B can be operated for
a short time with their rated current in the frequency range 0 Hz ... 25 Hz.
• Contact the motor manufacturer to get the exact setting values for the max.
permissible motor current of self-ventilated motors in the lower speed range.
• The nameplate data of the motor (at least rated speed and rated frequency) must be
entered if, instead of a standard motor, an asynchronous motor is used with the
following values:
• rated frequency ≠ 50 Hz (star) or
• rated frequency ≠ 87 Hz (delta) or
• number of pole pairs ≠ 2
3. Select the motor control"11: VFCplusEco: V/f energy-saving" from the Overview dialog box
in the Motor control 11list field:
4. Click the Motor control V/f Eco button to change to the Overview  Motor control V/f dialog
box.
parameters.
146
________________________________________________________________
5.5
5
V/f characteristic control - energy-saving (VFCplusEco)

1 C00056/2 Actual torque value 14 C00910/1 Max. pos. output frequency 27 C00975 VFC-ECO: Vp
2 C00830/4 Limitation of torque in motor mode 15 C00910/2 Max. neg. output frequency 28 C00976 VFC-ECO: Ti
3 C00830/5 Limitation of torque in generator mode 16 C00021 Slip compensation 29 C00977 VFC-ECO: Minimum voltage V/f
4 C00054 Motor current 17 C00051 Actual speed value 30 C00982 VFC-ECO: Voltage reduction ramp
5 C00022 Imax in motor mode 18 C00050 Speed setpoint 31 C00978 VFC-ECO: Voltage reduction
6 C00023 Imax in generator mode 19 C00056/2 Actual torque value 32 C00018 Switching frequency
7 C00074 Ti Imax controller 20 C00058 Output frequency 33 C00830/32 MCTRL: nPWMAngleOffset_a
8 C00073 Vp Imax controller 21 C00830/26 MCTRL: nBoost_a 34 C00830/31 MCTRL: nVoltageAdd_a
9 C00830/3 Speed setpoint 22 C00015 V/f base frequency 35 C00052 Motor voltage
10 C00909/1 Max. pos. speed 23 C00016 Vmin boost 36 C00980/1 Active output power
11 C00909/2 Max. neg. speed 24 C00979/2 Cosine phi set 37 C00980/2 Apparent output power
12 C00105 Decel. time - quick stop 25 C00979/1 Cosine phi act 38 C00981/1 Output energy in motor mode
13 - - 26 C00083 Motor rotor time constant 39 C00981/2 Output energy in generator mode
________________________________________________________________
5.5.2 Comparison of VFCplusEco - VFCplus
The following characteristics show the impact of the energy-saving V/f characteristic control
(VFCplusEco) compared to the standard V/f characteristic control (VFCplus).
• The characteristics were recorded with a standard asynchronous motor 2.2 kW with energy
efficiency class IE1 at speed = 600 rpm.
 scaled torque in [%]

 efficiency in [%]
 motor voltage in [V]
 power factor
 electrical power in [W]
[5-8] Comparison of VFCplusEco - VFCplus
________________________________________________________________
The "Initial commissioning steps" listed in the table below are sufficient for the V/f characteristic
control - energy-saving (VFCplusECo).
• Detailed information on the individual steps can be found in the following subchapters.

1. Determine the motor control:
C00006 = "11: VFCplusEco: V/f energy-saving"
2. The required motor data are pre-initialised depending on the device and thus, they do not need to be
entered directly.In order to achieve a high energy optimisation, these motor data can be entered (see the
following section).
Set the motor selection/motor data
• When selecting and parameterising the motor, the motor nameplate data and the equivalent circuit
diagram data are relevant. Detailed information can be found in the "Motor selection/Motor data"
chapter. ( 105)
Depending on the motor manufacturer, proceed as follows:
Lenze motor: Third party manufacturer's motor:
Selecting a motor from the motor catalogue in the 1. Set the motor nameplate data
»Engineer« 2. Automatic motor data identification or set known
- or - equivalent circuit diagram manually:
1. Set the motor nameplate data C00084: Motor stator resistance
2. Automatic motor data identification C00085: Motor stator leakage inductance
C00092: Motor magnetising inductance
 Tip!
________________________________________________________________
The V/f characteristic control - energy-saving (VFCplus) is generally ready for operation. It can be
adapted subsequently by adapting the characteristic and/or the drive behaviour.
 Note!
Following successful motor parameter identification, the V/f base frequency (C00015)
and the Vmin boost (C00016) as well as the slip constant for slip compensation (C00021)
are calculated automatically.
From version 12.00.00 onwards:
• Following successful motor parameter identification, the gain of the Imax controller
(C00073/1) is calculated automatically.
(C00011, C00022, C00966, C00982) can be calculated automatically.
Adapting characteristic
For the linear characteristic as part of the V/f characteristic control - energy-saving (VFCplusEco), it
is also possible (like in case of the standard V/f characteristic control) to match its curve to different
load profiles or motors by adapting the V/f base frequency (C00015) and the Vmin boost (C00016).
Adapting the V/f base frequency ( 133)
Adapting drive behaviour

• Limitation of the maximum current by a current limitation controller (e.g. to prevent the motor
from stalling or to limit to the maximally permissible motor current).Optimising the Imax
controller ( 136)
• Adaptation of the field frequency by a load-dependent slip compensation (improved speed
accuracy for systems without feedback).
• Improving the behaviour at high dynamic load changes. ( 150)
• Adapting the slope limitation for lowering the Eco function. ( 151)
• Optimising the cos/phi controller. ( 151)
Torque limitation
Limit the torque to a lower value.Torque limitation ( 138)
________________________________________________________________
5.5.4.1 Improving the behaviour at high dynamic load changes

Due to the voltage reduction executed via the cosϕ control, the motor may stall in the Lenze setting
at high dynamic load torque changes. This is caused by the flux reduction and the connected
reduction of the stalling torque of the motor current:
2
U Motor(t)
M Max(t) = M Stalling ⋅ ------------------------------------------------------------- with M Stalling = 1.6 ... 2.5 ⋅ M Rated_motor
2
( U Motor(t) – U Reduction )
VMotor = display in C00052
VReduction = display in C00978
It generally applies that when the output voltage is divided in halves, the maximum torque is
approx. reduced by the factor 4. A reduction by the factor 5 reduces the torque to approx. 15 ... 50 %
of the rated torque.
The minimum voltage and thus the maximum influence access of the Eco function on the output
voltage can be defined in C00977. With full influence of the Eco function, the following stalling
torque can be ensured depending on the setting in C00977:
Minimum voltage V/f Maximum torque

(C00977)
100 % 160 % … 250 % Mrated
70 % 80 % … 130 % Mrated
50 % 40 % … 70 % Mrated
20 % 15 % … 50 % Mrated
An adaptation of the minimum voltage V/f (C00977) improves the stability in case of load impulses.
• In the Lenze setting, the minimum voltage V/f is set to 20 % for the highest energy optimisation.
This setting serves to respond to load torques if these amount to approx. 25 % of the rated
torque or occur with low dynamics.
• An increase of the minimum voltage V/f to 70 % permits to apply a dynamic load impulse from
0 to 100 % rated motor torque without the motor stalling. This reduces the energy optimisation
to be achieved by approx. 75 %.
• A further increase of the stability at still higher dynamic load impulses can be achieved by a
further increase of the minimum voltage V/f, but means a further loss in energy optimisation.
 Note!
In case of applications with very high dynamic sudden load variations from the unloaded
operation, this motor control mode should not be used or the energy optimisation
should be switched off, since a motor stalling cannot be excluded.
• The energy optimisation can be switched off by setting the minimum voltage V/f
(C00977) to 100 %. Then, the behaviour corresponds to the V/f characteristic control
(VFCplus) with linear characteristic.
• From version 13.00.00, the energy optimisation can be switched off via the
bVfcEcoDisable process signal if a dynamic load change is known to take place.
________________________________________________________________
5.5.4.2 Adapting the slope limitation for lowering the Eco function
The ramp set in C00982 for voltage reduction serves as slope limitation in order to prevent that
voltage is suddenly applied to the motor when the Eco function is deactivated. Otherwise, the
overvoltage limitation (Imax, Clamp) would be activated.
• This ramp is, depending on the device, pre-initialised to approx. the triple rotor time constant.
An adaptation of this parameter is not required.
When the Eco function is switched off, a quick reaction (high dynamic performance) is required, but
with a low current overshoot and a small torque jump. Thus, the Lenze setting of C00982 is a
compromise regarding the switch-off of the Eco function (voltage reduction = 0).
• To increase the dynamics when switching off the Eco function:
Reduce  setting in C00982.
(Current compensation actions increase when the Eco function is switched off.)
• In order to reduce current compensation actions when switching off the Eco function:
Increase  setting in C00982.
(The dynamics when switching off the eco function is reduced)
5.5.4.3 Optimising the cos/phi controller

With the Lenze setting, the cosϕ controller is set such that usually no adaptation is required for all
power ratings and application cases.
Behaviour Remedy/recommendation
The cosϕ actual value (C00979/1) varies greatly. Reduce gain Vp (C00975) and reset time Ti (C00976).
The cosϕ actual value (C00979/1) is permanently lower Increase gain Vp (C00975) and reset time Ti (C00976).
than the cosϕ setpoint (C00979/2).
________________________________________________________________

Inadequate smooth running at low speeds, especially in Automatic motor data identification ( 111)
the case of operation with a long motor cable Reduce the influence of the Eco function by increasing
the minimum voltage V/f (C00977) if necessary.
Problems in case of high starting duty (great mass 1. Set motor control VFCplus with linear characteristic
inertia) (C00006 = 6).
2. Adapting the Vmin boost. ( 135)
3. Again set motor control VFCplusEco (C00006 = 11).
Drive does not follow the speed setpoint The current controller intervenes in the set field
frequency to limit the controller output current to the
maximum current (C0022, C0023). Therefore:
• Prolong acceleration/deceleration times:
C00012: Accel. time - main setpoint
C00013: Decel. time - main setpoint
• Consider a sufficient magnetising time of the motor.
Depending on the motor power, the magnetising
time amounts to 0.1 ... 0.2 s.
• Increase the maximally permissible current:
C00022: Imax in motor mode
C00023: Imax in generator mode
• Make adaptations for the Eco function:
• Improving the behaviour at high dynamic load
changes. ( 150)
• Adapting the slope limitation for lowering the Eco
function. ( 151)
• Optimising the cos/phi controller. ( 151)
Insufficient speed constancy at high load (setpoint and • Increase slip compensation (C00021).
motor speed are not proportional anymore) Important: Unstable drive due to overcompensation!
• With cyclic load impulses (e. g. centrifugal pump), a
smooth motor characteristic is achieved by smaller
values in C00021 (possibly negative values).
Note: The slip compensation is only active for operation
without speed feedback.
"Clamp operation active" error message (oC11): • Increase the gain of the Imax controller (C00073)
Controller cannot follow dynamic processes, i.e. too • Reduce the reset time of the Imax controller (C00074)
short acceleration/deceleration times in terms of load • Prolong the acceleration time (C00012)
ratios. • Prolong the deceleration time (C00013)
changes. ( 150)
function. ( 151)
Motor stalling in the field weakening range • If motor power < inverter power:
(adaptation especially required for small machines) Set C00022 to Imax = 2 Irated motor
• Reduce dynamic performance of setpoint generation
changes. ( 150)
function. ( 151)
Speed variations in no-load operation for speeds > 1/3 Minimise speed oscillations with oscillation damping
rated speed. (C00234).
________________________________________________________________

Speed variations in no-load operation and with load for Minimise speed oscillations with increasing the
speeds > rated speed. oscillation damping field weakening (C00236).
Caution: If C00236 is increased, the maximum output
voltage of the device is reduced!
Output voltage is too low. There is a too low maximum Reduction of the oscillation damping field weakening
torque in the high field weakening range. (C00236).
Caution: When C00236 = 0, oscillation damping field
weakening is inactive. Thus, a maximum output voltage
is available but the tendency to speed oscillations in the
field weakening range at no-load operation and with
load increases.
5.6 V/f control (VFCplus + encoder)
________________________________________________________________
The V/f characteristic control (VFCplus) described above can be operated with a speed feedback.
This has the following advantages:
• Steady-state accuracy of the speed
• Less parameterisation effort compared to the sensorless vector control (SLVC)
• Improved dynamics compared to V/f characteristic control without feedback or to sensorless
vector control (SLVC).
• Suitability for group drives
 Stop!
The V/f control requires a speed feedback!
• The speed sensor used has to be set in C00495. This setting is not made automatically
with the selection of the motor from the »Engineer« motor catalogue!
• If no speed sensor is set in C00495 and the controller is enabled, an impermissibly
high motor current occurs which may destroy the motor thermally!
• From version 14.00.00, the error response set in C00571/2 (Lenze setting: "Fault")
takes place if in case of controller enable it is detected that a motor control type with
feedback is set in C00006 but no speed encoder is set in C00495.
 Stop!
V/f emergency operation
From version 15.00.00 , it is internally switched to the encoderless V/f characteristic
control in case of an encoder open circuit in order to avoid impermissible motor
movements.
• In order that this "V/f emergency operation" works properly, the parameters relevant
for the V/f characteristic control (base frequency, Vmin boost, slip compensation, etc.)
have to be set correctly. As an alternative, a motor parameter identification can be
executed as well.
• The change-over to "V/f emergency operation" is reported via bit 4 in C01000 and via
the bWirebreakUfLinearActive status signal at the SB LS_DeviceMonitor.
• The change-over to "V/f emergency operation" can be suppressed by setting bit 8 to
"1" in C02864/1.
 Note!
• Make sure that, when the motor control with speed feedback is in use, the maximum
input frequency of 10 kHz is not exceeded. Using DI1 and DI2 as frequency inputs
( 266)
• As the slip is calculated in the feedback V/f operation and injected through the slip
regulator, the slip compensation (C00021) is deactivated with V/f control.
________________________________________________________________
 The descriptions in chapter "V/f characteristic control (VFCplus)" also apply to the V/f
control. ( 126)
Detailed information on the speed feedback can be found in the chapter
"Encoder/feedback system". ( 220)
3. Select the motor control from the Overview dialog level in the Motor control (C00006) list
field:
• "7: VFCplus: V/f linear +encoder" for linear characteristic or
• "9: VFCplus: V/f quadr +encoder" for quadratic characteristic
4. Click the Motor control V/f encoder button to change to the Overview  Motor control V/f
dialog box.
parameters.
more details/parameters is displayed, as shown in the following subchapter.
156
________________________________________________________________
5.6
5

1 C00056/2 Actual torque value 16 C00050 Speed setpoint 29 C00058 Output frequency
2 C00830/29 Limitation of torque in motor mode 17 C00051 Actual speed value 30 C00006 Motor control
3 C00830/28 Limitation of torque in generator mode 18 C00972 Vp Vf+encoder 31 C00830/26 MCTRL: nBoost_a
4 C00054 Motor current 19 C00973 Ti Vf+encoder 32 C00015 V/f base frequency
5 C00022 Imax in motor mode 20 C00971/1 Controller limitation Vf+encoder 33 C00016 Vmin boost
6 C00023 Imax in generator mode 21 C00056/2 Actual torque value 34 C00018 Switching frequency
7 C00074 Ti Imax controller 22 C00830/24 MCTRL: nSpeedCtrlI_a 35 C00830/32 MCTRL: nPWMAngleOffset_a
8 C00073 Vp Imax controller 23 C00830/25 MCTRL: nSpeedCtrlPAdapt_a 36 C00830/31 MCTRL: nVoltageAdd_a
9 C00830/22 Speed setpoint 24 C00833/31 MCTRL: bSpeedCtrlIOn 37 C00052 Motor voltage
10 C00909/1 Max. pos. speed 25 C00833/69 MCTRL: bSpeedCtrlPAdaptOn
11 C00909/2 Max. neg. speed 26 C00971/2 Slip limitation Vf+encoder More relevant parameters for Encoder/feedback system:
12 C00105 Decel. time - quick stop 27 C00910/1 Max. pos. output frequency C00115 DI1/2 & DI6/7 function
13 C00495 Speed sensor selection 28 C00910/2 Max. neg. output frequency C00420 Number of encoder increments
14 - - C00425 Encoder scanning time
15 C00497/1 Encoder filter time FreqIn12 C00496 Encoder evaluation method
________________________________________________________________
In order to protect the drive system, carry out the commissioning of the V/f control and the slip
regulator in several steps.
• Detailed information on the single steps can be found in the following subchapters or in the
corresponding subchapters for V/f characteristic control.

1. Define the V/f characteristic:
• C00006 = 7: Linear characteristic
• C00006 = 9: Quadratic characteristic
3. Parameterise encoder/feedback system.
Encoder/feedback system ( 220)
4. If special motors with a rated frequency other than 50 Hz or with a number of pole pairs ≠ 2 are used, set the
motor parameters according to the motor nameplate.
Motor selection/Motor data ( 105)
5. Define speed setpoint (e.g. 20 % of the rated speed) and enable controller.
6. Check whether the actual speed value (C00051) ≈ speed setpoint (C00050) and then inhibit the controller
again.
• In case of a sign reversal between actual value and setpoint, check the connection of the encoder (e.g.
change track A or B of the encoder or invert the actual speed value).
• In case the actual value differs considerably from the setpoint (factor 2), set the motor parameters
according to motor nameplate. Then repeat step 5.
7. To protect the drive, reduce the slip regulator limitation in C00971/1.
• e.g. reduction to half the slip frequency (≈ 2 Hz)
8. Define speed setpoint (e.g. 20 % of the rated speed) and enable controller.
9. In case of a semi-stable operational performance, reduce the reset time (C00972) or the proportional gain
(C00973) of the slip regulator until a stable operation has been achieved.
Parameterising the slip regulator ( 158)
10. In a final step, increase the slip regulator limitation again in C00971/1.
• e.g. increase to twice the slip frequency
 Tip!
Information on the further optimisation of the control mode and the adaptation to the real
application is provided in the "Optimising the control mode" chapter for the V/f
characteristic control (VFCplus). ( 132)
________________________________________________________________
5.6.2.1 Parameterising the slip regulator

The slip regulator is designed as a PI controller. In order to improve the response to setpoint
changes, the setpoint speed or setpoint frequency is added to the output (correcting variable) of the
slip regulator as feedforward control value.
• Unlike traditional speed controllers, the slip regulator only controls the slip.
• In the Lenze setting, the configuration of the slip regulator provides robustness and moderate
dynamics.

Value Unit
C00971/1 VFC: Controller limitation V/f +encoder 10.00 Hz

C00971/2 VFC: Slip limitation V/f +encoder 100.00 Hz
C00972 VFC: Vp V/f +encoder 0.100 Hz/Hz
C00973 VFC: Ti V/f +encoder 100.0 ms
Slip regulator gain Vp

The setting range of the slip regulator gain Vp (C00972) which leads to a stable operational
performance, mainly depends on the resolution of the speed sensor. There is a direct relationship
between encoder resolution and gain:
• The higher the encoder resolution, the higher the gain can be set.
The following table provides maximum and recommended slip regulator gains for encoder with
standard encoder increments:
Encoder increment Slip regulator gain Vp

[Increments/revolution] maximum recommended
8 0.09 0.06
64 0.52 0.31
100 0.79 0.47
120 0.94 0.57
128 1.00 0.60
256 1.29 0.77
386 1.63 0.98
512 1.97 1.18
640 2.31 1.38
768 2.65 1.59
896 2.99 1.79
1014 3.33 2.00
1536 4.69 2.81
2048 6.05 3.63
3072 8.77 5.26
4096 11.49 6.90
[5-1] Slip regulator gain Vp based on the encoder increment
________________________________________________________________
 How to adapt the slip regulator gain to the operating conditions:

1. Adapt the slip regulator gain (C00972) to the encoder increment according to table [5-1].
2. Set controller limitation (C00971/1) to half the slip frequency (≈ 2 Hz).
3. Select speed setpoint (e.g. 20 % of the rated speed).
5. Increase the slip regulator gain (C00972) until the drive is semi-stable.
• This can be recognised by motor noises or "humming" of the motor or by a noise on the
actual speed signal.
6. Reduce slip regulator gain (C00972) until the drive runs stable again (no motor
"humming").
7. Reduce slip regulator gain (C00972) to approx. half the value.
• With low encoder resolutions, another reduction of the the slip regulator gain for low
speeds may be necessary (speed setpoint ≈ 0).
• We recommend to finally check the behaviour at setpoint speed = 0 and to further
reduce the slip regulator gain if irregular running occurs.
8. Increase controller limitation (C00971/1) again (e.g. to twice the slip frequency).
Slip regulator time constant Ti
 How to set the slip regulator time constant:

1. Set controller limitation (C00971/1) to half the slip frequency (≈ 2 Hz).
2. Select speed setpoint (e.g. 20 % of the rated speed).
4. Reduce the slip regulator time constant (C00973) until the drive is semi-stable.
• This can be recognised by motor noise, "motor vibrations" or resonance on the actual
speed value signal.
5. Increase slip regulator time constant (C00973) until the drive runs stable again (no motor
"oscillation").
6. Increase the slip regulator time constant (C00973) to approx. twice the value.
7. Increase controller limitation (C00971/1) again (e.g. to twice the slip frequency).
________________________________________________________________
Controller limitation
Max. intervention of the controller is limited by the controller limitation (C00971/1).
• The controller can be limited depending on the application.
• We recommend to limit the max. intervention to twice the rated slip of the motor.
• The rated slip is calculated as follows:
n Motor [ rpm ]
f Slip [ Hz ] = f Rated [ Hz ] –  -----------------------------------------
Rated
- ⋅ p Number of pole pairs
Rated  60 
[5-9] Calculation of the rated slip
 Note!
A setting of C00971/1 = 0 Hz deactivates the slip regulator. In this case, the structure of
the V/f control corresponds to the structure of a V/f characteristic control without
feedback.
Slip limitation
In addition to limiting the slip regulator, the field frequency to be injected can also be limited by
another limiting element, the slip limitation (C00971/2).
• If the slip is e.g. limited to twice the rated slip of the motor, a stalling of the motor during very
dynamic processes can be avoided.
• Motor stalling is caused by:
• a high overcurrent at very steep speed ramps
• very fast speed changes due to load, e.g. abrupt stopping of the drive due to an encounter
with a stop or a load that is not moving.
5.7 Sensorless vector control (SLVC)
________________________________________________________________
Sensorless vector control (SLVC) is based on a better motor current control according to a field-
oriented control mode by Lenze.
 Stop!
• The sensorless vector control (SLVC) is only suitable for asynchronous motors.
• The connected motor may be maximally two power classes lower than the motor
assigned to the controller.
• Operation of the sensorless vector control (SLVC) is only permissible for one single
drive!
• Operation of the sensorless vector control (SLVC) is not permissible for hoists!
• The Lenze setting permits the operation of a power-adapted motor. Optimal
operation is only possible if either:
• the motor is selected via the »Engineer« motor catalogue,
• the motor nameplate data are entered and motor parameter identification is
carried out afterwards
- or -
• the nameplate data and equivalent circuit data of the motor (motor leakage
inductance and mutual motor inductance, slip compensation and motor stator
resistance) are entered manually.
• When you enter the motor nameplate data, take into account the phase connection
implemented for the motor (star or delta connection). Only enter the data applying to
the selected connection type.
• In this context, also observe the instructions in chapter "Adapting the V/f base
frequency" relating to V/f characteristic control. ( 133)
 Note!
Optimal operation of the sensorless vector control (SLVC) can be achieved from a
minimum speed of approx. 0.5-fold slip speed. At lower speed values below the 0.5-fold
slip speed, the maximum torque is reduced.
The maximum field frequency with this motor control mode is 650 Hz.
________________________________________________________________
In comparison to the V/f characteristic control without feedback, the following can be achieved by
means of sensorless vector control SLVC:
• A higher maximum torque throughout the entire speed range
• A higher speed accuracy
• A higher concentricity factor
• A higher level of efficiency
• The implementation of torque-controlled operation with speed limitation
• The limitation of the maximum torque in motor and generator mode for speed-controlled
operation
3. Select the motor control "4: SLVC: Vector control" from the Overview dialog level in the
Motor control list field (C00006):
4. Click the Motor control vector button to change to the Overview  Motor control vector
dialog box.
parameters.
more details/parameters is displayed, as shown in the following subchapter.
________________________________________________________________
5.7
5
Sensorless vector control (SLVC)
1 C00909/2 Max. neg. speed 16 C00275 Setpoint feedforward control filtering 24 C00073/2 SLVC: Vp torque controller
2 C00909/1 Max. pos. speed 17 C00273 Moment of inertia 25 C00074/2 SLVC: Ti torque controller
3 C00830/22 Speed setpoint 18 C00022 Imax in motor mode 26 C00084 Motor stator resistance
4 C00105 Decel. time - quick stop 19 C00023 Imax in generator mode 27 C00085 Motor stator leakage inductance
5 C00074/2 SLVC: Ti torque controller 20 C00074/2 SLVC: Ti torque controller 28 C00092 Motor magnetising inductance
6 C00074/2 SLVC: Ti torque controller 21 C00833/69 MCTRL: bSpeedCtrlPAdaptOn 29 C00830/88 MCTRL: nSpeedHighLimit_a
7 C00071/1 SLVC: Ti speed controller 22 C00074/2 SLVC: Ti torque controller 30 C00830/23 MCTRL: nSpeedLowLimit_a
8 C00070/1 SLVC: Vp speed controller 23 C00074/2 SLVC: Ti torque controller 31 C00910/1 Max. pos. output frequency
9 C00830/28 Limitation of torque in generator mode 32 C00910/2 Max. neg. output frequency
10 C00830/29 Limitation of torque in motor mode 33 C00051 Actual speed value
11 C00830/24 MCTRL: nSpeedCtrlI_a 34 C00058 Output frequency
12 C00833/31 MCTRL: bSpeedCtrlIOn 35 C00018 Switching frequency
13 C00830/25 MCTRL: nSpeedCtrlPAdapt_a 36 C00830/32 MCTRL: nPWMAngleOffset_a
14 C00833/69 MCTRL: bSpeedCtrlPAdaptOn 37 C00830/31 MCTRL: nVoltageAdd_a
15 C00985 SLVC: Field current controller gain 38 C00052 Motor voltage
163
________________________________________________________________
5.7.2 Types of control
The sensorless vector control can be operated in two different modes:

• Speed control with torque limitation (bTorquemodeOn = FALSE)
• Torque control with speed limitation (bTorquemodeOn = TRUE)
5.7.2.1 Speed control with torque limitation

When bTorquemodeOn = FALSE, the drive system is operated with a selected speed setpoint in a
speed-controlled manner.
 Note!
From version 13.00.00, the torque setpoint nSpeedSetValue_a is set to 0 by quick stop
(QSP) device-internally and the torque limit values nTorqueMotLimit_a and
nTorqueGenLimit_a are set to 100 % to stop the drive quickly and safely anytime. The
previous behaviour can be set in C2865/1 via bit 12 and bit 13.
The operational performance can be adapted in the following ways:

A. Overload limitation in the drive train
B. Motor current limitation
C. Slip compensation
Overload limitation in the drive train

The torque is limited via the torque setpoint.
• The torque setpoint is identical to the value at the output of the speed controller,
nOutputSpeedCtrl.


• Setting range: -199.99 ... 0 %
 Note!
To avoid instabilities during operation, the torque limit values are internally processed
as absolute values.
________________________________________________________________
Motor current limitation

A cross current setpoint is calculated from the torque setpoint which is limited depending on the
magnetising current, the max. current in motor mode (C00022) and the max. current in generator
mode (C00023). The total current injected into the motor does not exceed the max. currents in
motor mode and in generator mode.
Slip compensation
The slip of the machine is reconstructed using the slip model. An influencing parameter is the slip
constant (C00021). Slip compensation ( 215)
5.7.2.2 Torque control with speed limitation

When bTorquemodeOn = TRUE, a torque-controlled operation is activated. The setpoint torque
directly follows the default value nTorqueSetValue_a.
Due to its speed limitation, the torque-controlled drive can only rotate within a speed range whose
positive speed is limited by nSpeedHighLimit_a and whose negative speed is limited by
nSpeedLowLimit_a.
 Note!
• Absolute speed limitation to speed 0 min-1 (nSpeedLowLimit_a or
nSpeedHighLimit_a = 0) is only possible from version 12.00.00.
• Quick stop (QSP) is used to switch over to Speed control with torque limitation.
• From version 13.00.00, the torque setpoint nSpeedSetValue_a is set to 0 by quick
stop (QSP) device-internally and the two torque limit values nTorqueMotLimit_a
and nTorqueGenLimit_a are set to 100 % to stop the drive quickly and safely
anytime. The previous behaviour can be set in C2865/1 via bit 12 and bit 13.
• From version 13.00.00, the bLimSpeedTorquemodeOn status signal is used to show that the
speed limitation is active.
• The speed is defined by the process.
• The torque setpoint is calculated directly from nTorqueSetValue_a.
• From version 12.00.00 onwards, the torque limitation is active via nTorqueMotLimit_a and
nTorqueGenLimit_a in this control mode, too, for the torque setpoint to be limited. The
torque limitation can be deactivated in C2865/1 via bit 0 to obtain the previous function.

nTorqueSetValue_a Torque setpoint / additive torque

nSpeedHighLimit_a Upper speed limit for the speed limitation
C00830/88 | INT • During torque-controlled operation only (bTorquemodeOn = TRUE)
• Scaling: 16384 ≡ 100 % rated speed (C00011)
nSpeedLowLimit_a Lower speed limit for speed limitation
• Scaling: 16384 ≡ 100 % rated speed (C00011)
________________________________________________________________


• Setting range: -199.99 ... 0 %
The following "Initial commissioning steps" must be performed to commission the sensorless vector
control:

1. Determine the motor control:
C00006 = "4: SLVC: Vector control"
2. Set the motor selection/motor data
chapter. ( 105)
- or - equivalent circuit diagram data manually:
1. Set the motor nameplate data C00082: Motor rotor resistance
2. Automatic motor data identification C00084: Motor stator resistance
C00085: Motor stator leakage inductance
C00095: Motor magnetising current
3. Define the type of control:
bTorquemodeOn = FALSE: Speed control with torque limitation
bTorquemodeOn = TRUE: Torque control with speed limitation
4. Set the slip compensation (C00021). Slip compensation ( 215)
 Tip!
We recommend to use the flying restart function for connecting/synchronising the inverter
to an already rotating drive system.Flying restart function ( 208)
________________________________________________________________
 Note!
• Following successful motor parameter identification, the current controller
parameters (C00075, C00076) are calculated automatically.
• Following successful motor parameter identification, the speed controller parameters
(C00070/1, C00071/1) can be calculated automatically.
(C00011, C00022) can be calculated automatically.
5.7.4.1 Optimising the starting performance after a controller enable

After the controller has been enabled, the starting action of the motor is delayed due to the
magnetisation of the motor. Under consideration of the motor rotor time constant (C00083), the
time delay is calculated as follows:
Magnetisation = 1.5 * motor rotor time constant
If this delay cannot be tolerated for specific applications, the motor must always be operated in an
energised condition. For this, select one of the following options:
Procedure without setting a controller inhibit

1. Deactivate the auto DCB function with C00019 = 0.
2. Do not activate the controller inhibit. Instead, stop the drive by selecting a setpoint of 0 or by
activating the quick stop function.
Procedure with setting a controller inhibit due to application requirements

1. Deactivate the auto DCB function with C00019 = 0.
2. Enter a greater value for the motor rotor resistance (max. factor 2!) to reduce the magnetisation
time in C00082.
 Note!
During the starting action, a jerk may occur in the machine due to the temporarily
increased motor current!
________________________________________________________________
5.7.4.2 Optimise speed controller

The speed controller is designed as a PI controller.
• In the Lenze setting, the configuration of the speed controller provides robustness and
moderate dynamics.

Value Unit
C00070/1 SLVC: Vp speed controller 15.00

C00071/1 SLVC: Ti speed controller 100.0 ms
Speed controller gain Vp

The gain Vp (C00070/1) of the speed controller is defined in a scaled representation which enables
a comparable parameterisation almost independent of the power of the motor or inverter. Here, the
speed input difference of the controller is scaled to the rated motor speed whereas the output
torque refers to the rated motor torque. A gain of 10 means that a speed difference of 1 % is gained
through the P component with 10 % torque.
If the rated data of the motor and the mass inertia of the drive system are known, we recommend
the following setting:
TM [ s ]
V P ≈ 1.5 ... 3 ⋅ -------------------
0.01 [ s ]
2 ⋅ π ⋅ n N [ rpm ] 2
T M [ s ] = -------------------------------------- ⋅ J Drive, total [ kgm ]
M N [ Nm ] ⋅ 60
P N [ W ] ⋅ 60
M N [ Nm ] = -------------------------------------
-
2 ⋅ π ⋅ n N [ rpm ]
VP = Gain of the speed controller (C00070/1)

TM = Time constant for the acceleration of the motor
MN = Rated motor torque
nN = Rated motor speed
Jdrive, total = Total moment of inertia of the drive
[5-10] Recommendation for the setting of the gain of the speed controller
 Tip!
Values recommended by Lenze for the setting of the (proportional) gain:
• For drive systems without feedback: Vp = 6 … 25
• For drive systems with a good disturbance behaviour: Vp > 15
In this case, we recommend the optimisation of the dynamic performance of the torque
controller.
________________________________________________________________
Speed controller reset time Ti

Apart from setting the P component, C00071/1 provides the possibility to take influence on the I
component of the PI controller.
 Tip!
Value range recommended by Lenze for the setting of the reset time:
Ti = 20 ms … 150 ms
5.7.4.3 Optimising dynamic performance and field weakening behaviour

In the Lenze setting, the torque controller has been preset in such a way that robust and stable
operation with a moderate dynamic response is enabled over the entire speed range. Retrospective
optimisation of the controller parameters is not necessary.

Value Unit
C00073/2 SLVC: Vp torque controller 1.25

C00074/2 SLVC: Ti torque controller 30 ms
A greater dynamic performance of the sensorless vector control can be achieved by reducing time
constant Ti of the speed controller (C00074/2).
A greater dynamic performance of the field weakening function can be achieved by setting a time
constant ≤ 15 ms. This means for actual speeds above rated speed a better torque-speed-
characteristic in the field weakening range:
M M
0 1
MN MN
nN n nN n
 Torque controller time constant Ti > 15 ms
 Torque controller time constant Ti ≤ 15 ms
[5-11] Speed / torque characteristic diagram in the field weakening range
• For Ti > 15 ms (see ), the actual speed value slightly drops in the field weakening range if the
load torque increases in the motor mode.
• For Ti ≤ 15 ms (see ), the speed remains stable in the field weakening range if the torque is
within the M/n characteristic field highlighted in grey.
 Tip!
For applications with high dynamic performance and speed/torque accuracy requirements
in the field weakening range, we recommend a time constant Ti ≤ 15 ms.
In this case, the maximum torque should be limited via the nTorqueMotLimit_a and
nTorqueGenLimit_a process input signals to 1.5 x MN to ensure stable operation in the field
weakening range.
________________________________________________________________
5.7.4.4 Optimising the stalling behaviour

Motor stalling due to a torque overload in the field weakening range is prevented in sensorless
vector control by means of an inverter-internal stalling current monitoring. In the field weakening
range, hence at frequencies above the base frequency, it reduces the maximum current to prevent
the motor from stalling. The reduction depends on the current field frequency, the base frequency,
the DC-bus voltage and the maximum current (C00022). Generally it applies that a higher field
frequency causes a stronger limitation of the maximum current.
The field weakening behaviour of the sensorless vector control depends on the setting of the reset
time Ti of the torque controller (C00074/2).
The following applies to the reset time Ti (C00074/2) > 15 ms:

The behaviour in the field weakening range can be adapted via the override point of field weakening
(C00080). This parameter serves to shift the frequency-dependent maximum current characteristic:
• C00080 > 0 Hz:
• The maximum current characteristic is shifted by the entered frequency to higher field
frequencies.
• The maximally permissible current and the maximum torque increase in the field weakening
range.
• The risk of motor stalling increases.
• C00080 < 0 Hz:
• The maximum current characteristic is shifted by the entered frequency to lower field
frequencies.
• The maximally permissible current and the maximum torque are reduced in the field
weakening range.
• The risk of motor stalling is reduced.
 Note!
We recommend to keep the Lenze setting (0 Hz).
The following applies to the reset time Ti (C00074/2) <= 15 ms:

The reduction of the magnetising current in the field weakening range can be adapted via the
override point of field weakening (C00080):
• C00080 > 0 Hz: The reduction of the magnetising current is shifted to higher field frequencies.
Here, there is a risk of the motor being magnetised too much and having too little voltage
reserve for the torque-creating current.
• C00080 < 0 Hz: The reduction of the magnetising current is shifted to lower field frequencies.
 Note!
A function for enabling a stable operation can only be implemented to a limited extent
with a reset time Ti <= 15 ms For applications with speeds above the 2-fold rated speed,
we recommend a reset time Ti (C00074/2) > 15 ms.
________________________________________________________________
5.7.4.5 Optimise response to setpoint changes and determine mass inertia
Optimisation at constant mass inertia

Setting the total moment of inertia under C00273 provides the optimum torque feedforward
control. Depending on the application, an adjustment of the setting under C00273 may be
necessary to optimise the response to position/speed setpoint changes by means of the torque
feedforward control.
Without feedforward control: C00273 set too low:
n, M n, M

t t
C00273 set too high: Optimum feedforward control:

n, M n, M

t t
 Actual speed value (signal nMotorSpeedAct_a)  Speed controller output (signal nOutputSpeedCtrl_a)
 Speed setpoint (nSpeedSetValue_a signal)
[5-12] Typical signal characteristics for different settings of the load moment of inertia
 How to optimise the torque feedforward control:

1. Run a typical speed profile and record the inputs and outputs of the speed controller with
the data logger.
• Motor control variables to be recorded:
nSpeedSetValue_a (speed setpoint)
nMotorSpeedAct_a (actual speed value)
nOutputSpeedCtrl_a (speed controller output)
2. Estimate the moment of inertia and set it in C00273 in relation to the motor end (i.e. with
account being taken of the gearbox factors).
3. Repeat the data logger recording (see step 1).
Now the data logger should show that part of the required torque is generated by the
feedforward control and the speed controller output signal (nOutputSpeedCtrl_a) is
correspondingly smaller. The resulting following error decreases.
4. Change the setting in C00273 and repeat the data logger recording until the intended
response to setpoint changes is reached.
• The optimisation could aim at the speed controller being completely relieved (see signal
characteristics in Fig. [5-12]).
5. Save the parameter set (device command: C00002/11).
________________________________________________________________
Optimisation at variable mass inertia

From version V12.00.00, mass inertia that changes during the process (e.g. a reel) can be taken into
account when optimising the response to setpoint changes.
How to proceed:
1. In C00273 the known constant total moment of inertia (motor, gearbox, shaft, etc.) must be set
or determined according to previous instructions ("How to optimise ...").
• The determination requires travelling the typical speed profile without variable mass inertia
(e.g. reels).
2. At the LS_MotorInterface SB, the nInertiaAdapt_a process signal must be interconnected in a
way which ensures that a value of "100 %" is applied at this input.
3. In C00919/1 set the known maximum value of the variable moment of inertia or determine the
value according to previous instructions ("How to optimise ...").
• The determination requires travelling the typical speed profile including variable mass inertia
(e.g. maximum reels).
4. The nInertiaAdapt_a process signal can be used during the process to dynamically control the
percentage of the variable moment of inertia set in C00919/1 which is to be considered for
setpoint feedforward control.
Example:
• If there is no variable moment of inertia (e.g. no reel), the nInertiaAdapt_a process signal
must be set to "0 %".
• If the maximally variable moment of inertia is available (e.g. maximum reels), the
nInertiaAdapt_a process signal must be set to "100 %".
 Tip!
Via the nTorqueSetValue_a process signal at the LS_MotorInterface SB, any differential
signal can be defined for torque feedforward control. First the speed controller, then this
additive torque is connected which is hence not derived from the differential change in
speed setpoint.
________________________________________________________________
Other functions for differential setpoint feedforward control

From version V12.00.00 onwards, the following additional functions are available for differential
setpoint feedforward control (torque feedforward control):
• In C00653/1, the sensitivity of setpoint feedforward control can be adapted.
• In C00654/1, alternatively to the nSpeedSetValue_a process signal, the new
nSpeedSetValueInertia_a process signal for the setpoint feedforward control can be selected at
the LS_MotorInterface SB. Via the nSpeedSetValueInertia_a process signal, an optional input
value (e.g. setpoint of the position or process controller) for the torque feedforward control can
be specified.
• For bTorqueModeOn = TRUE, the setpoint feedforward control is added to the torque setpoint
nTorqueSetValue_a. In this way, feedforward control of torque is also possible for torque-
controlled operation (e.g. for winder applications).
 Stop!
In the Lenze setting of C00654/1, the speed setpoint of the speed controller
(nSpeedSetValue_a) is used for the torque feedforward control which is why it is also
called "differential setpoint feedforward control". A very sharp change of the speed
setpoint at the speed controller thus causes a strong torque impulse at the machine!
A very sharp change of the speed setpoint of the speed controller occurs if a control
creates the setpoint ramp itself and the speed setpoint is only written every 20 ms to the
drive. (In this case, the speed setpoint is changed every 20 ms.)
Deactivate the speed feedforward control for the speed setpoint in C00654/1 if the
speed setpoint changes very sharply or the mass inertia is unknown (e.g. in case of
hoists)!
________________________________________________________________
5.7.4.6 Slip calculation from motor equivalent circuit diagram data

In order to achieve a better speed stability and torque accuracy, the slip calculation can be either
derived from the motor nameplate data (e.g. rated motor speed) or the motor equivalent circuit
diagram data (stator resistance, rotor resistance etc.).
The data to be used for sensorless vector control is selected via bit 0 in C02879/1:
Setting Info
Bit 0 SLVC In case of sensorless vector control:
• "0" ≡ Slip calculation from motor nameplate data (Lenze setting)
• "1" ≡ Slip calculation from motor equivalent circuit diagram data
 Note!
In order that the slip can be calculated from the motor equivalent circuit diagram data,
the equivalent circuit data (stator resistance, rotor resistance etc.) must be known as
exactly as possible.
• Selecting a motor in the »Engineer« motor catalogue loads the exact motor
equivalent circuit diagram data.
• When the motor nameplate data is entered manually and the motor equivalent
circuit diagram data is then detected via the motor parameter identification, the
"extended identification" (C02867/1 = 2) must be used. Automatic motor data
identification ( 111)
In the slip calculation from the motor equivalent circuit diagram data, the slip
compensation (C00021) has no influence anymore.
________________________________________________________________
5.7.4.7 Optimising field feedforward control and torque feedforward control

At the start of an acceleration process and at the end of a deceleration process, the field current
(nReaktCurrentId_a) may oscillate.
• Especially when accelerating via small acceleration ramps, these oscillations become obvious by
the speed being unable to follow the setpoint or speed drops during acceleration.
• Oscillating can be reduced by increasing the gain of the field current controller in C00985. A
small increase of the cross current controller gain in C00986 can further improve the starting
performance for small acceleration ramps.
In the field weakening range, the cross current (nEffCurrentIq_a) may oscillate when an acceleration
process starts or a deceleration process ends.
• In case of some motors, this cross current oscillation (nEffCurrentIq_a) can also occur in the
motor setting range/field weakening range transitions which may also cause an overcurrent
interruption.
• These oscillations can be reduced by again increasing the cross current controller gain slightly
in C00986.
 Note!
The setting of C00985 and C00986 reduces the torque setting range.
________________________________________________________________

Deviation between no-load current and magnetising Adapt the motor magnetising inductance (C00092) for
current or bad speed or torque accuracy. no-load operation.
• If the no-load current is greater than the magnetising
current (C00095) at 0.5-fold rated motor speed, the
magnetising inductance must be reduced until the
no-load current and the magnetising current have the
same values.
• Otherwise, the magnetising inductance must be
increased.
Tendency of the correction of C00092:
+15 %
92
C00
0
-15 %
0,37 22 90 PN [kW]
PN: Rated motor power

Insufficient speed constancy at high load: Setpoint and Via the slip compensation (C00021), the speed stability
motor speed are not proportional anymore. under high loads can be affected:
Caution: Overcompensation of the settings mentioned • If nact > nslip, reduce the value in C00021
under " Remedy" may result in unstable behaviour! • If nact < nslip, increase the value in C00021
Unstable control with higher speeds. • Check the setting of the magnetising inductance
(C00092) by comparing the current consumption in
no-load operation with the rated magnetising current
(C00095).
• Optimise oscillation damping (C00234).
"Short circuit" (oC1) or "Clamp operation active" (oC11) • Increase the gain of the torque controller (C00073/2).
error messages at short acceleration time (C00012) in • Reduce the reset time of the torque controller
proportion to the load (controller cannot follow the (C00074/2).
dynamic processes). • Increase the acceleration (C00012)/deceleration (
C00013) time.
Mechanical resonance at certain speeds. The L_NSet_1 function block masks out those speed
ranges that include resonance.
Speed variations in no-load operation for speeds > 1/3 Minimise speed oscillations with oscillation damping
rated speed. (C00234).
Drive runs unstable. Check set motor data (nameplate data and equivalent
circuit diagram data).
Setpoint speed and actual speed differ strongly.
Motor selection/Motor data ( 105)
The torque required is not generated at standstill. Increase motor magnetising current (C00095).
Current overshoots occur when heavy loads are
accelerated from standstill (OC1 or OC11 error).
The machine runs uneven.
5.8 Sensorless control for synchronous motors (SLPSM)
________________________________________________________________
The sensorless control for synchronous motors is based on a decoupled and separated control of the
torque-creating and field-creating current share of synchronous motors. In contrast to the servo
control, the actual speed value and the rotor position are reconstructed via a motor model.
 Stop!
• The sensorless control for synchronous motors is only possible up to a maximum
output frequency of 650 Hz (from version 14.00.00: 1000 Hz)!
• Depending on the number of motor pole pairs, the reference speed (C00011) may
only be selected that high that the output frequency displayed in C00059 is less
than or equal to 650 Hz (from version 14.00.00: 1000 Hz).
• We recommend to select a power-adapted combination of inverter and motor.
• The Lenze setting permits the operation of a power-adapted motor. Optimal
operation is only possible if either:
• the motor is selected via the »Engineer« motor catalogue,
• the motor nameplate data are entered and motor parameter identification is
carried out afterwards
- or -
• the nameplate data and equivalent circuit data of the motor (motor leakage
inductance and motor stator resistance) are entered manually.
• When you enter the motor nameplate data, take into account the phase connection
implemented for the motor (star or delta connection). Only enter the data applying to
the selected connection type.
• In order to protect the motor (e.g. from demagnetisation), we recommend setting the
ultimate motor current in C00939. This ensures motor protection even with an
unstable operation. Maximum current monitoring ( 248)
• Controller enable is only possible if the motor is at standstill.
• When the controller is enabled, a jerk may occur due to an angle jump since the
rotor displacement angle is not known after controller enable. For some
applications, this jerk in the machine is not acceptable.
• From version 11.00.00, the rotor displacement angle is identified with every
controller enable in the Lenze setting, and thus a jerk in the machine after
controller enable can be avoided. Pole position identification without motion
( 197)
• A flying restart circuit for synchronising to rotating motors is in preparation.
• The injection of a constant current may cause an unwanted heating of the motor at
controlled operation.
• We recommend using a temperature feedback via PTC or thermal contact. Motor
temperature monitoring (PTC) ( 242)
________________________________________________________________
 Note!
Currently, the sensorless control does not contain a flying restart function that enables
a synchronisation of the controller to a rotating machine.
• Thus, we recommend taking measures for preventing overvoltages at operation in
generator mode (e.g. brake resistor).
• By any means, the delay time for the "DC-bus overvoltage" error trigger in C00601/1
must be set to 0 s.
The motor model-based speed monitoring requires a rotating machine. Thus, the operational
performance of the sensorless control for synchronous motors is divided into two categories:
1. Open-loop controlled operation (|nsetpoint| < nC00996)
• In the range of low speeds, the speed of a synchronous motor is not possible. Thus, only an
adjustable and constant current is injected that enables an acceleration.
2. Closed-loop controlled operation (|nsetpoint| > nC00996)
• In this range, the rotor flux position and the speed are reconstructed via an observer. The
control is carried out field-oriented. Only the current is injected that is needed for the
required torque.
M  Operation in motor mode (CW rotation)

1 0  Operation in generator mode (CCW rotation)
 Operation in motor mode (CCW rotation)
 Operation in generator mode (CW rotation)
 Field weakening (in preparation)

 Closed-loop controlled operation
n  Open-loop controlled operation
2 3

[5-13] Operating ranges of the sensorless control for synchronous motors
The sensorless control for synchronous motors has similar advantages for the closed-loop
controlled operating range and the servo control (SC) for synchronous motors. Compared to
asynchronous motors, there are the following advantages:
• Higher power density of the motor
• Higher efficiency
• Limitation of the maximum torque in motor mode and generator mode in closed-loop
operating range
• Implementation of simple positioning
________________________________________________________________
3. Select the motor control "3: SLPSM: Sensorless PSM" from the Overview dialog level in the
Motor control list field:
4. Click the Motor control servo SLPSM button to change to the Overview  Motor control
vector dialog box.
parameters.
180
________________________________________________________________
5.8
5

1 C00830/22 Speed setpoint 5 C00909/1 Max. pos. speed 12 C00830/29 Limitation of torque in motor mode
2 C00998/1 SLPSM: Filter time rotor position 6 C00909/2 Max. neg. speed 13 C00830/28 Limitation of torque in generator mode
3 C00833/68 MCTRL: bMotorRefOffsetOn 7 C00050 Speed setpoint 14 C00830/24 MCTRL: nSpeedCtrlI_a
4 C00834/6 MCTRL: dnMotorRefOffset_p 8 C00105 Decel. time - quick stop 15 C00833/31 MCTRL: bSpeedCtrlIOn
9 - - 16 C00830/25 MCTRL: nSpeedCtrlPAdapt_a
10 C00998/2 SLPSM: Filter time actual speed value 17 C00070/3 SLPSM: Vp speed controller
11 C00051 Actual speed value 18 C00071/3 SLPSM: Ti speed controller
19 C00072 SC: Tdn speed controller
20 C00833/29 MCTRL: bTorqueInterpolatorOn
________________________________________________________________
5.8
5
1 C00830/27 MCTRL: nTorqueSetValue_a 11 C00995/1 SLPSM: Open-loop controlled accelerating current 18 C00075 Vp current controller
2 C00830/29 Limitation of torque in motor mode 12 C00995/2 SLPSM: Open-loop controlled standstill current 19 C00076 Ti current controller
3 C00830/28 Limitation of torque in generator mode 13 C00996/1 SLPSM: Closed-loop controlled switching speed 20 C00018 Switching frequency
4 C00274 SC: Max. change in acceleration 14 C00996/2 SLPSM: Open-loop controlled switching speed 21 C00830/32 MCTRL: nPWMAngleOffset_a
5 C00270 SC: Freq. current setpoint filter 15 C00050 Speed setpoint 22 C00830/31 MCTRL: nVoltageAdd_a
6 C00271 SC: Current setpoint filter width 16 C00022 Imax in motor mode 23 C00058 Output frequency
7 C00272 SC: Current setpoint filter depth 17 C00023 Imax in generator mode 24 C00052 Motor voltage
8 C00056/2 Actual torque value
9 C00056/1 Torque demand
10 C00056/2 Actual torque value
181
________________________________________________________________
5.8.2 Types of control
Sensorless control for synchronous motors can only be executed in the "Speed control with torque
limitation" (bTorquemodeOn = FALSE) mode.
Speed control with torque limitation

A speed setpoint is selected and the drive system is operated in a speed-controlled manner. For
adapting the operational performance, the overload in the drive train can be limited:
• The torque is limited via the torque setpoint.
• The torque setpoint is identical to the value at the output of the speed controller,
nOutputSpeedCtrl.


• Setting range: -199.99 ... 0 %
 Stop!
Torque limitation is only active in the closed-loop controlled operation (|nSetpoint| >
nC00996)!
• It must be prevented that the actual speed value is braked into the non-observable
area due to the torque limitation!
 Note!
To avoid instabilities during operation, the torque limit values are internally processed
as absolute values.
________________________________________________________________
The following "Initial commissioning steps" must be performed to commission the sensorless
control for synchronous motors:

1. Select motor control:
C00006 = "3: SLPSM: Sensorless PSM"
2. Set the motor selection/motor data
chapter. ( 105)
- or - equivalent circuit diagram manually:
1. Set the motor nameplate data C00084: Motor stator resistance
2. Automatic motor data identification C00085: Motor stator leakage inductance
3. Set speed switching thresholds between open-loop and closed-loop controlled operation:
• Set transition speed from closed-loop to open-loop operation in C00996/1 in [%] with regard to the rated
motor speed (C00087).
• Set transition speed from closed-loop to open-loop operation in C00996/2 in [%] with regard to the rated
motor speed (C00087).
Tip!
• With voltage-adjusted motors, a speed switching threshold of 10 % is recommended.
• As a rule of thumb, the speed switching threshold should be selected as follows:
U Rated, motor [V]
C00996/1...2 [%] = --------------------------------------- ⋅ 10
U Rated, FI [V]
4. Set open-loop accelerating current in C00995/1 in [%] with regard to the rated motor current (C00088).
• This value defines the height of the current that is injected during the acceleration process.
• The accelerating current must be dimensioned so that the required torque in the lower speed range can
always be reached (acceleration torque + load torque):
M Meax [Nm]
C00995/1 [%] = ------------------------------- ⋅ I Rated, motor [A] ⋅ 1.3
M Rated [Nm]
5. Set open-loop steady-state current in C00995/2 in [%] with regard to the rated motor current (C00088).
• This value defines the height of the current for processes without acceleration (e.g. standstill or constant
setpoint speed ).
6. For improving the operating characteristics:
If required, adapt the filter time for reconstructing the rotor position and the actual speed value through the
motor model in C00998/1 and C00998/2.
• We recommend using the Lenze setting:
Filter time rotor position (C00998/1) = 3 ms
Filter time actual speed value (C00998/2) = 5 ms
• Deviant from this, the following value range can be used:
Filter time rotor position (C00998/1) = 2 ... 5 ms
Filter time actual speed value (C00998/2) = 3 ... 8 ms
7. For protecting the motor from demagnetisation:
Set the ultimate current in C00939.
 Note!
The Lenze settings of the current controller are predefined for a power-adapted motor.
For an optimal drive behaviour of a synchronous motor, we recommend to adapt the
controller settings.
________________________________________________________________
 Tip!
application is provided in the "Optimising the control mode" chapter.
________________________________________________________________
 Note!
• Following successful motor parameter identification, the current controller
parameters (C00075, C00076) are calculated automatically.
• Following successful motor parameter identification, the speed controller parameters
(C00070/3, C00071/3) can be calculated automatically.
(C00011, C00022) can be calculated automatically.
The measures described in the following subchapters serve to further optimise the control
behaviour of the sensorless control for synchronous motors and adjust it to the concrete
application.
• Optimise current controller. ( 186)
• The current controller should always be optimised if a motor of a third-party manufacturer
with unknown motor data is used!
• Optimise speed controller. ( 187)
• The setting of the speed controller must be adapted depending on the mechanical path.
• Optimise response to setpoint changes and determine mass inertia. ( 190)
• For an optimal reference behaviour, the total moment of inertia can be used to make a
feedforward control of the speed setpoint.
• Current-dependent stator leakage inductance Ppp(I). ( 193)
• If the motor is operated with very low and very high currents during the process (e.g. in Pick
and place-applications), the stator leakage inductance and current controller parameters can
be tracked by means of an adjustable saturation characteristic.
 Note!
Current setpoint filter (band-stop filter) / jerk limitation
The use of the functions is only recommended in exceptional cases.
Setting the current setpoint filter (band-stop filter) ( 195)
Adapting the max. acceleration change (jerk limitation) ( 196)
________________________________________________________________
5.8.4.1 Optimise current controller
 Note!
An optimisation of the current controller should generally be carried out unless a power-
adapted standard motor is used or the motor has been selected from the motor
catalogue of the »Engineer«!
An optimisation of the current controller is sensible since the two control parameters gain (C00075)
and reset time (C00076) depend on the required maximum current and the set switching
frequency.

Value Unit
C00075 Vp current controller 7.00 V/A

C00076 Ti current controller 10.61 ms
• Gain and reset time can be calculated as per the following formulae:
Vp = Current controller gain (C00075)
L ss [ H ] Ti = Current controller reset time (C00076)
V p = ---------------
-
TE [ s ] Lss = Motor stator leakage inductance (C00085)
Rs = Motor stator resistance (C00084)
TE = Equivalent time constant (= 500 μs)
L ss [ H ]
T i = ---------------
-
Rs [ Ω ]
________________________________________________________________
5.8.4.2 Optimise speed controller

The speed controller is in the form of a PID controller with an additional differential speed-setpoint
gain. For optimum behaviour, the PID speed controller has to be optimised and the overall mass
inertia of the drive train has to be determined.
• In the Lenze setting, the configuration of the speed controller provides robustness and
moderate dynamics.

Value Unit
C00070/3 SLPSM: Vp speed controller 3.00

C00071/3 SLPSM: Ti speed controller 100.0 ms
C00072 SC: Tdn speed controller 0.00 ms
Speed controller gain Vp

The gain Vp (C00070/3) of the speed controller is defined in a scaled representation which enables
a comparable parameterisation almost independent of the power of the motor or inverter. Here, the
speed input difference of the controller is scaled to the rated motor speed whereas the output
torque refers to the rated motor torque. A gain of 10 means that a speed difference of 1 % is gained
through the P component with 10 % torque.
If the rated data of the motor and the mass inertia of the drive system are known, we recommend
the following setting:
TM [ s ]
V P ≈ 0.2 ... 0.5 ⋅ -------------------
0.01 [ s ]
2 ⋅ π ⋅ n N [ rpm ] 2
T M [ s ] = -------------------------------------- ⋅ J Drive, total [ kgm ]
M N [ Nm ] ⋅ 60
P N [ W ] ⋅ 60
M N [ Nm ] = -------------------------------------
-
2 ⋅ π ⋅ n N [ rpm ]
VP = Gain of the speed controller (C00070/3)

TM = Time constant for the acceleration of the motor
MN = Rated motor torque
nN = Rated motor speed
Jdrive, total = Total moment of inertia of the drive
[5-14] Recommendation for the setting of the gain of the speed controller
________________________________________________________________
If the mass inertia of the drive is unknown, the optimisation can be achieved as follows:
1. Specify speed setpoint.
• A small speed just above the switching threshold is recommended in the closed-loop
controlled operation.
2. Increase Vp (C00070/3) until the drive starts to oscillate (observe engine noise).
3. Reduce Vp (C00070/3) until the drive runs stable again.
4. Reduce Vp (C00070/3) to approx. half the value.
5. Afterwards check results of the optimisation in the entire speed range (one-time passing
through of the speed range).
 Tip!
Values recommended by Lenze for the setting of the (proportional) gain:
• For drive systems without feedback: Vp = 2 … 8
• For drive systems with a good disturbance behaviour: Vp > 6
Speed controller reset time Ti

Apart from setting the P component, C00071/3 provides the possibility to take influence on the I
component of the PI controller.
If the mass inertia of the drive is unknown, the optimisation can be achieved as follows:
1. Specify speed setpoint.
2. Reduce Ti (C00071/3) until the drive starts to oscillate (observe engine noise).
3. Increase Ti (C00071/3) until the drive runs stable again.
4. Increase Ti (C00071/3) to approx. twice the value.
 Tip!
Value range recommended by Lenze for the setting of the reset time:
Ti = 20 ms … 150 ms
Using the ramp response for setting the speed controller

If the mechanical components cannot be operated at the stability limit, the ramp response can also
be used for setting the speed controller.
 Stop!
If the controller parameters are preset unfavourably, the control can tend to heavy
overshoots up to instability!
• Following and speed errors can adopt very high values.
• If the mechanics are sensitive, the corresponding monitoring functions are to be
activated.
________________________________________________________________
 Note!
For an optimal setting, we recommend to determine the mass inertia (optimal response
to setpoint changes) first.
Optimise response to setpoint changes and determine mass inertia ( 190)
 How to optimise the speed controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the speed using the data
logger.
2. Evaluate the ramp response:
Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.
n n n
Tn < Tn opt.
t t t
n n n
Tn = Tn opt.
t t t
n n n
Tn > Tn opt.
t t t
• Solid line = ramp response (actual speed value)

• Dash line = speed setpoint
3. Change gain Vp in C00070/3 and reset time Tn in C00071/3.
4. Repeat steps 1 ... 3 until the optimum ramp response is reached.
________________________________________________________________
5.8.4.3 Optimise response to setpoint changes and determine mass inertia
Optimisation at constant mass inertia

Setting the total moment of inertia under C00273 provides the optimum torque feedforward
control. Depending on the application, an adjustment of the setting under C00273 may be
necessary to optimise the response to position/speed setpoint changes by means of the torque
Without feedforward control: C00273 set too low:
n, M n, M

t t
C00273 set too high: Optimum feedforward control:

n, M n, M

t t
 Actual speed value (signal nMotorSpeedAct_a)  Speed controller output (signal nOutputSpeedCtrl_a)
 Speed setpoint (nSpeedSetValue_a signal)
[5-15] Typical signal characteristics for different settings of the load moment of inertia
 How to optimise the torque feedforward control:

1. Run a typical speed profile and record the inputs and outputs of the speed controller with
the data logger.
nOutputSpeedCtrl_a (speed controller output)
2. Estimate the moment of inertia and set it in C00273 in relation to the motor end (i.e. with
account being taken of the gearbox factors).
3. Repeat the data logger recording (see step 1).
Now the data logger should show that part of the required torque is generated by the
feedforward control and the speed controller output signal (nOutputSpeedCtrl_a) is
correspondingly smaller. The resulting following error decreases.
4. Change the setting in C00273 and repeat the data logger recording until the intended
response to setpoint changes is reached.
• The optimisation could aim at the speed controller being completely relieved (see signal
characteristics in Fig. [5-15]).
5. Save the parameter set (device command: C00002/11).
________________________________________________________________
Optimisation at variable mass inertia

From version V12.00.00, mass inertia that changes during the process (e.g. a reel) can be taken into
account when optimising the response to setpoint changes.
How to proceed:
1. In C00273 the known constant total moment of inertia (motor, gearbox, shaft, etc.) must be set
or determined according to previous instructions ("How to optimise ...").
• The determination requires travelling the typical speed profile without variable mass inertia
(e.g. reels).
2. At the LS_MotorInterface SB, the nInertiaAdapt_a process signal must be interconnected in a
way which ensures that a value of "100 %" is applied at this input.
3. In C00919/1 set the known maximum value of the variable moment of inertia or determine the
value according to previous instructions ("How to optimise ...").
• The determination requires travelling the typical speed profile including variable mass inertia
(e.g. maximum reels).
4. The nInertiaAdapt_a process signal can be used during the process to dynamically control the
percentage of the variable moment of inertia set in C00919/1 which is to be considered for
setpoint feedforward control.
Example:
• If there is no variable moment of inertia (e.g. no reel), the nInertiaAdapt_a process signal
must be set to "0 %".
• If the maximally variable moment of inertia is available (e.g. maximum reels), the
nInertiaAdapt_a process signal must be set to "100 %".
 Tip!
Via the nTorqueSetValue_a process signal at the LS_MotorInterface SB, any differential
signal can be defined for torque feedforward control. First the speed controller, then this
additive torque is connected which is hence not derived from the differential change in
speed setpoint.
________________________________________________________________
Other functions for differential setpoint feedforward control

From version V12.00.00 onwards, the following additional functions are available for differential
setpoint feedforward control (torque feedforward control):
• In C00653/1, the sensitivity of setpoint feedforward control can be adapted.
• In C00654/1, alternatively to the nSpeedSetValue_a process signal, the new
nSpeedSetValueInertia_a process signal for the setpoint feedforward control can be selected at
the LS_MotorInterface SB. Via the nSpeedSetValueInertia_a process signal, an optional input
value (e.g. setpoint of the position or process controller) for the torque feedforward control can
be specified.
• For bTorqueModeOn = TRUE, the setpoint feedforward control is added to the torque setpoint
nTorqueSetValue_a. In this way, feedforward control of torque is also possible for torque-
controlled operation (e.g. for winder applications).
 Stop!
In the Lenze setting of C00654/1, the speed setpoint of the speed controller
(nSpeedSetValue_a) is used for the torque feedforward control which is why it is also
called "differential setpoint feedforward control". A very sharp change of the speed
setpoint at the speed controller thus causes a strong torque impulse at the machine!
A very sharp change of the speed setpoint of the speed controller occurs if a control
creates the setpoint ramp itself and the speed setpoint is only written every 20 ms to the
drive. (In this case, the speed setpoint is changed every 20 ms.)
Deactivate the speed feedforward control for the speed setpoint in C00654/1 if the
speed setpoint changes very sharply or the mass inertia is unknown (e.g. in case of
hoists)!
________________________________________________________________
5.8.4.4 Current-dependent stator leakage inductance Ppp(I)

The current controller must be adjusted to the electrical characteristics of the motor stator
resistance (C00084) and stator leakage inductance (C00085). In case of modern motors, the stator
leakage inductance changes with the height of the current so that a new current controller setting
is required for each current height.
When the motor is operated with very low and very high currents (e.g. in Pick and place
applications), it is not always possible to achieve a satisfactory current controller setting for all
operating points. For this purpose, the correction of the stator leakage inductance and current
controller parameters is now possible via an adjustable saturation characteristic (17 interpolation
points).
Short overview of the relevant parameters:

Value Unit
C02853/1...17 PSM: Ppp saturation characteristic (17 interpolation 100 %

points)
C02855 PSM: Imax Lss saturation characteristic 3000.0 A
C02859 PSM: Activate Ppp saturation char. 0: Off
 Note!
• The saturation characteristic is not only used for the correction of the current
controller but also influences the current controller feedforward control (C00079/1).
• When a Lenze motor is selected from the »Engineer« motor catalogue, the
corresponding saturation characteristic is set in C02853/1...17 and – if required – the
correction via this saturation characteristic is switched on in C02859.
• For third-party motors: If the current controller becomes unstable with high currents,
contact the motor manufacturer to find out whether the stator leakage inductance
changes with the current level. If required, the saturation characteristic of this motor
must be set in C02853/1...17 and then activated in C02859.
________________________________________________________________
Distribution of the interpolation points

• The saturation characteristic is represented by 17 interpolation points linearly distributed on
the X axis (C02853/1...17).
• Interpolation point 17 represents 100 % of the maximum motor current in the process (C02855).
• The following diagram shows the saturation characteristic stored in the »Engineer« motor
catalogue for the Lenze motor "MCS12H15" as an example:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
L/Ln [%]
C02853/2
200
180
160 C02853/1 C02853/3
140
C02853/4
120
100
80
60
40 C02853/17
20
0 I/Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
[5-16] Saturation characteristic: Inductance referring to the inductance for rated current
________________________________________________________________
5.8.4.5 Setting the current setpoint filter (band-stop filter)

Due to the high dynamic performance/limit frequency of the closed current control loop,
mechanical natural frequencies can be activated which may lead to an unstable speed control loop.
To mask out or at least damp these resonant frequencies, a so-called current

setpoint filter is integrated into the speed control loop of the controller.

Value Unit
C00270 SC: Freq. current setpoint filter 200.0 Hz

C00271 SC: Current setpoint filter width 0.0 Hz
C00272 SC: Current setpoint filter depth 0 dB
• In the default setting of 0 db of the filter depth (C00272), the current setpoint filter is switched
off.
Setting of the current setpoint filter

Since the frequency response of the speed controlled system is only rarely known to such an extent
that the current setpoint filter can be adjusted to the controlled system in the run-up, the following
example describes how to set the current setpoint filter.
 How to set the current setpoint filter:

1. Optimise current controller. ( 186)
2. Optimise speed controller. ( 187)
3. Measure the oscillation frequency (observe current or speed).
4. Set the measured oscillation frequency in C00270 as filter frequency.
5. Set "25%" of the filter frequency in C00271 as filter width.
• Example: Filter frequency = 200 Hz  filter width = 50 Hz.
6. Set "40 dB" in C00272 as filter depth.
• If the filter depth is set to "0 dB" (default setting), the filter is not active.
 Note!
Readjust the speed controller after setting the current setpoint filter. Optimise speed
controller. ( 187)
________________________________________________________________
5.8.4.6 Adapting the max. acceleration change (jerk limitation)
Via the max. acceleration change that can be set in C00274, the change of the
setpoint torque can be limited for jerk limitation. Hence, sudden torque step
changes can be avoided. The entire speed characteristic is smoothed.

Value Unit
C00274 SC: Max. change in acceleration 400.0 %/ms
In the default setting of 400 %/ms of the max. acceleration change (C00274), jerk limitation is
switched off.
The setting defines the permissible maximum torque change per ms (based on the rated motor
torque).
 Note!
Only activate this jerk limitation for speed-controlled applications!
________________________________________________________________
5.8.5 Pole position identification without motion
From version 11.00.00 onwards, when sensorless control is active for synchronous motors (SLPSM),
the rotor displacement angle is identified with every controller enable in the Lenze setting and thus
a jerk in the machine after controller enable can be avoided.
The "Pole position identification without motion" is able to identify the electrical rotor
displacement angle with an accuracy of up to 10°. The identification takes 1 ... 15 ms depending on
the motor. The function is preset in the Lenze setting so that no further settings need to be made in
the majority of cases. In order to get the same behaviour as before, the function can be deactivated
in C02874.

Value Unit
C02874 Pole position identification 1: On

C02872 PLI: Adaptation of time period PLI in operation 0
C02875 PLI: Adaptation of ident angle PLI in operation 0 °
C02870 PLI: Degree of optimisation - %
C02871 PLI: Identification time - ms
C02873 PLI: Identified rotor displacement angle - °
 Note!
In case of synchronous motors with a stator time constant < 1 ms, the pole position
identification is not executed since the resulting test current pulse could exceed the
permissible motor current.
• This, however, only affects very few synchronous motors with very low power (e.g.
Lenze motor MDSKS-020-13-300 with rated power of 40 W).
• A non-executed pole position identification can be recognised by the display
C02870 = 0 % and C02871 = 0 ms.
• The stator time constants can be calculated based on the following formula:
TS = stator time constant
L ss [mH] Lss = Motor stator leakage inductance (C00085)
T s [ms] = -------------------
-
Rs [ Ω ] Rs = Motor stator resistance (C00084)
________________________________________________________________
Optimising the pole position identification
 Stop!
In case of a too high setting in C02872, an impermissible motor current may occur during
pole position identification. In this case, the "Fault" error response occurs and the "Id5:
Pole position identification error" error message entered in the logbook.
In case of aconsiderably too high setting in C02872:
• The following current monitoring functions can be triggered:
• OC7: Motor overcurrent
• OC11: Active clamp operation
• OC1: Power section - short circuit
• The optimisation degree "0 %" is displayed in C02870.
• The time "0 ms" is displayed in C02871.
 How to optimise the pole position identification without motion:

1. For optimisation, enable the controller for various rotor displacement angles.
2. After every controller enable, check the optimisation degree displayed in C02870.
The pole position identification is set optimally if an optimisation degree in the range 70 ...
130 % is displayed in C02870 after every controller enable.
3. When the optimisation degree is > 130 %:
Reduce the setting in C02872 step by step an execute controller enable for various rotor
displacement angles until an optimisation degree < 130 % is displayed.
4. When the optimisation degree is < 70 %:
Increase setting in C02872 step by step and execute controller enable for various rotor
displacement angles until an optimisation degree > 70 % is displayed.
5. Optionally: C02875 serves to increase or reduce the identified electrical rotor displacement
angle. This can prevent e.g. a reversing of the motor due to the accuracy of identification if
applications require it.
________________________________________________________________
5.8.6 Field weakening for synchronous motors
 Note!
In the Lenze setting, the field weakening for synchronous motors is activated in
C00079/4.
• If a high energy efficiency is required, keep the field weakening switched off or restrict
the field weakening operation via C00938.
 Stop!
In the field weakening operation, a current is injected into the synchronous motor even
in idle state which can rise to maximum current (C00022).
Ensure that this no-load current does not cause the motor to be heated impermissibly!
• We recommend using a temperature feedback via PTC or thermal contact. Motor
temperature monitoring (PTC) ( 242)
• When field weakening is switched on, the motor

Umotor magnetising current is increased from 0 A to the maximally
effective magnetising current via an internal control loop
when the voltage limit is reached.
• As a result, a higher speed can be reached at the same
motor voltage or DC-bus voltage.
n
 Armature control range

 Field weakening range
[5-17] Voltage/speed characteristic with switched-on field weakening
800V
n max = n nenn_mot ⋅ --------------------------------------
2 ⋅ U nenn_mot
[5-18] Calculation of the maximally reachable speed with switched-on field weakening
________________________________________________________________
M [Nm]
60
50
40 0

30

20
1
10
0 n [rpm]
0 1500 3000 4500
 Standstill torque
 Rated torque
 Characteristic for continuous operation
 Limit characteristic at a mains voltage of 400 V without field weakening
 Limit characteristic with field weakening
[5-19] Speed/torque characteristics of a synchronous servo motor with field weakening

Value Unit
C00079/4 Field weakening 1: On

C00938 Limitation of maximally effective field-producing 30 %
motor current
• With regard to rated motor current (C00088)
C00937/1 Maximally effective field-producing motor current - A
• The maximally effective field-producing motor current is calculated based on the motor data
set in C00085, C00089 and C00098. Then, the value is internally limited to 98 % of the set
maximum current (C00022 or maximally permissible current for the permanent switching
frequency set in C00018).
• C00938 serves to limit the maximally effective field-producing motor current as well.
• In the Lenze setting, the field weakening for synchronous motors is active (C00079/4).
However, the field-producing motor current is limited via C00938 to 30 % of the rated motor
current (C00088). Hence, the maximum speed is limited during field weakening operation
and, at the same time, the temperature rise of the motor during field weakening operation
and no-load operation is also limited.
• If a higher speed for the field weakening operation is required or the current in the field
weakening operation is to be limited (e.g. since no motor temperature detection is available
and/or heating in the field weakening operation is to be limited), the value must be increased
or reduced accordingly in C00938.
________________________________________________________________
• In C000937/1, the actually used maximally effective field-producing motor current is displayed.
• With switched-on and active field weakening: 0.00 A ... -x.xx A
• With sensorless control for synchronous motors (SLPSM), the injected current is displayed in
open-loop controlled operation: 0.00 A ... +x.xx A
• If neither field weakening nor open-loop controlled operation are active,e "0.00 A" is
displayed.
 Note!
If a Lenze motor is used:
The controller is automatically parameterised so that field weakening operates
optimally and the maximally permissible speed is monitored.
 Stop!
If an OEM motor is used:
If pulse inhibit is set in the controller, the DC bus is loaded with the voltage that
corresponds to the current speed of the machine.
Since with switched-on field weakening higher speeds can be achieved at a
correspondingly higher rotor voltage of the motor, the DC bus can be loaded to a voltage
higher than the set DC-bus voltage in case of pulse inhibit and a currently high motor
speed and even exceed the maximally permissible voltage of 800 V!
For device protection, either use a brake chopper or parameterise the motor speed
monitoring via C00965 in such a way that only a maximum speed is possible which
would be also reachable without field weakening with a DC-bus voltage of = 800 V.
Motor speed monitoring ( 249)
Example: Voltage increase in the DC bus when field weakening is switched off
(For instance by an active setting of the controller inhibit or by tripping a fault or error at high motor
speed.)
Field weakening Speed n Motor voltage peak value

Switched off 4000 rpm 560 V
5700 rpm 800 V
6000 rpm 840 V
Switched-on 6000 rpm 560 V
U
• If pulse inhibit occurs at 6000 rpm and switched-on field
840 V
> 800 V weakening, the DC bus is loaded to more than 800 V ().
• A speed limitation to 5700 rpm is required since this speed
560 V
causes a DC-bus voltage of 800 V if field weakening is
switched off.
4000 6000 n
[5-20] Example: Possible DC-bus voltage > 800 V if field weakening gets lost
5.9 Parameterisable additional functions
________________________________________________________________
5.9.1 Selection of switching frequency
The switching frequency of the inverter that can be selected in C00018 influences the smooth
running performance and the noise generation in the connected motor as well as the power losses
in the controller.
The lower the switching frequency the higher the concentricity factor, the smaller the losses, and
the higher the noise generation.
 Stop!
If operated at a switching frequency of 16 kHz, the output current of the controller must
not exceed the current limit values specified in the technical data! (See chapter "Rated
data" of the hardware manual.)
 Note!
• Operate mid-frequency motors only at a switching frequency of 8 kHz or 16 kHz
(var./drive-opt.).
• If operated at a switching frequency of 16 kHz, the Ixt evaluation (C00064) is
considered including the required derating to 67 % of the rated device current at
switching frequencies of 2.4 and 8 kHz.
• Ensure that the value does not fall below the permissible switching frequency,
• if the motor is not approved for the setting switching frequency
- or -
• if a sinusoidal filter has been connected between the output of the inverter and the
motor which is not approved for the setting switching frequency.
(see section "Preventing a decrease of the switching frequency")

Value Unit
C00018 Switching frequency 2: "8 kHz var./drive-opt."

C00144 Switching frequency reduction (temp.) 1: On
C00725 Current switching frequency -
C00910/1 Max. pos. output frequency 1000 Hz
C00910/2 Max. neg. output frequency 1000 Hz
C02864/1 MCTRL: Special settings 2 0x0000
Bit 4: Option "Motor ident: Switching frequency 8 kHz" (Off)
________________________________________________________________
Settable switching frequencies
Selection in C00018
1 4 kHz var./drive-optimised 21 8 kHz var./drive-opt./4 kHz min
5 2 kHz constant/drive-optimised 31 8 kHz var./min. Pv/4 kHz min
8 16 kHz constant/drive-optimised Abbreviations used:
11 4 kHz var./min. Pv • "var.": Adaptation of the switching frequency
depending on the current
12 8 kHz var./min. Pv • "drive-opt.": drive-optimised modulation ("sine/delta
13 16 kHz var./min. Pv modulation")
• "fixed": fixed switching frequencies
15 2 kHz constant/min. Pv • "min. Pv": additional reduction of power loss
16 4 kHz constant/min. Pv
 Tip!
The Lenze setting C00018 = "2: 8 kHz var.drive-opt." is the optimal value for standard
applications.
Preventing a decrease of the switching frequency

The value must not fall below the permissible switching frequency if the motor is not approved for
the setting switching frequency or if a sinusoidal filter is connected between the output of the
inverter and the motor that is not approved for the setting switching frequency.
In order to prevent a decrease of the switching frequency, the following settings have to be made:
1. The temporary switching frequency reduction has to be activated by the setting
C00144 = "0: Off".
2. The switching frequency has to be set in C00018 so that the value is not fallen below the
permissible switching frequency.
3. If a sinusoidal filter is available, only a drive-optimised switching frequency ("drive-opt.") is
permissible.
Example:
A sinusoidal filter is connected between the output of the inverter and the motor which only is to
be operated with a minimum switching frequency of 8 kHz.
In this case, only the following settings in C00018 are permissible:
Selection in C00018
7 8 kHz constant/drive-optimised
23 16 kHz var./drive-opt./8 kHz min
________________________________________________________________
 Note!
Switching frequency for the motor parameter identification
Up to and including version 13.xx.xx, the motor parameter identification is executed
with a switching frequency of 4 kHz.
• Thus, a motor parameter identification is not permissible for the previously
mentioned example as the sinusoidal filter may only be operated with a minimum
switching frequency of 8 kHz!
From version 14.00.00, the motor parameter identification can also be executed with a
switching frequency of 8 kHz instead of 4 kHz. For this purpose, the option "Motor ident.:
Switching frequency 8 kHz" (Bit 4 = "1") has to be set in C02864/1.
• With this setting, a motor parameter identification would be permissible for the
previously mentioned example.
Generally, a switching frequency of 4 kHz is recommended for the motor parameter
identification as it serves to obtain the most accurate results.
Automatic motor data identification ( 111)
Lowering the switching frequency due to high heatsink temperatures

Exceeding the maximally permissible heatsink temperature would lead to an inhibited drive due to
the "Overtemperature" error and a torquelessly coasting motor. Therefore, if the Lenze setting is
selected, the switching frequency is reduced to the next frequency below when the heatsink
temperature has risen to 5 °C below the maximally permissible temperature. After the heatsink has
cooled down, the controller automatically switches to the next frequency above until the set
switching frequency is reached.
Switching frequency reduction due to high heatsink temperature can be deactivated via C00144. If
the switching frequency reduction is deactivated, the "oH1: Heatsink overtemperature" error
message will be issued when the maximally permissible heatsink temperature is reached. An "Error"
response is the result and the motor is coasting.

C00144 Switching frequency reduction (temp.) 1: On
Lowering of the switching frequency depending on the output current

"Variable" switching frequencies can be selected for the controller in C00018, where the controller
automatically lowers the switching frequency depending on the controller output current. The
modulation mode will not be changed.
 The changeover thresholds are listed in the 8400 hardware manual in the rated data.
The hardware manual has been stored in electronic form on the data carrier supplied
with the 8400 controller.
When a "fixed" switching frequency is selected, no switching frequency changeover takes place. In
case of fixed frequencies, the controller output current is limited to the permissible value of the
corresponding switching frequency. In case of larger load impulses, the overcurrent interruption
may be activated, to which the controller responds with "Error".
________________________________________________________________
Limiting the maximum output frequency

The maximum output frequency (C00910) of the controller is not limited depending on the
switching frequency. Therefore, adapt the maximum output frequency according to our
recommendation:
1
Maximum output frequency ≤ --- Switching frequency
8
• At a switching frequency of 4 kHz, for instance, 500 Hz for the maximum output frequency
should not be exceeded.
Carry out further measures:
• If required, deactivate the switching frequency changeover by the heatsink temperature via
C00144.
• If required, ensure that the changeover threshold of the controller output current to the next
switching frequency below will not be exceeded. If required, select a constant switching
frequency in C00018.
Operation at an ambient temperature of 45°C

The controller is designed so that operation at an ambient temperature of 45° C without derating is
permissible at a switching frequency of 4 kHz.
________________________________________________________________
5.9.2 Operation with increased rated power
Under the operating conditions described here and under continuous operation, the controller can
be operated with a higher power motor (increased rated power). The remaining overload capacity
of the drive system (for 60 s/3 s) is reduced accordingly to approx. 120 %/160 %.
Typical applications stand out due to low dynamic requirements, e.g. pumps and fans, general
horizontal materials handling technology and line drives.
 The controllers which can be operated at an increased rated power are listed in the 8400
hardware manual in the rated data. The hardware manual is stored in electronic form on
the data carrier which is supplied with the 8400 controller.
 Stop!
Operation at increased rated power is only permitted ...
• with the controllers listed in the 8400 hardware manual for this type of operation in
the stated mains voltage range.
• at switching frequencies of 2 kHz and 4 kHz.
• at a max. ambient temperature of 40 °C.
• with the types of installation stated in the 8400 hardware manual.
• with the fuses, cable cross-sections, mains chokes, and filters as required in the 8400
hardware manual for this operation.
• after parameterisation according to the specifications below.
Required parameterisation
Operation at increased rated power requires the following settings to be made particularly for the
V/f characteristic control (VFCplus), but also for all other types of control:
Parameter Info Required setting

C00016 VFC: Vmin boost adapt to motor
(reduce)
C00018 Switching frequency 1: 4 kHz var./drive-opt.
C00021 Slip compensation adapt to motor
C00120 Setting of motor overload (I²xt) adapt to motor
C00123 Device utilisat. threshold (Ixt) 120 %
C00173 Mains voltage see hardware manual
 Rated data
________________________________________________________________
All other types of control require the following settings in addition:
Parameter Info Required setting

C00022 Imax in motor mode higher than rated motor current
(max. 160 % rated motor current)
C00081 Rated motor power adapt motor data
(see motor nameplate),
then carry out identification run
C00088 Rated motor current Automatic motor data
identification ( 111)
C00089 Rated motor frequency
C00090 Rated motor voltage
C00091 Motor cos ϕ
________________________________________________________________
5.9.3 Flying restart function
The flying restart circuit for asynchronous motors uses a simple motor model which requires
knowledge of the motor stator resistance RS and the rated motor current.
 Note!
• Currently, the flying restart circuit is only available for asynchronous motors. (A flying
restart circuit for synchronous motors is in preparation.)
• For a correct functioning of the flying restart circuit, we recommend to perform a
parameter identification first. Automatic motor data identification ( 111)
• The flying restart function works safely and reliably for drives with great centrifugal
masses.
• Do not use the flying restart function if several motors with different centrifugal
masses are connected to a controller.
• After the controller is enabled, the motor can start for a short time or reverse when
machines with low friction and low mass inertia are used.
• The flying restart function serves to identify max. field frequencies up to ±200 Hz.
• When power-adapted standard asynchronous motors are used (rated motor power
approximately corresponds to the rated inverter power), a motor parameter
identification is not required.
• On drive systems with feedback, you do not need to use the flying restart function
because the synchronisation to the speed detected by the feedback is always carried
out in a jerk-free manner.
• Especially in case of very high power, very high mass inertia and a mains voltage
higher than 440 V, an overvoltage in the DC bus may be caused temporarily. Using a
brake resistor may avoid this behaviour.
• From version 15.00.00, frequency can be set as a remedy in C00989 which is added
to the found flying restart frequency.
Here, the setting in C00989 has to be increased in small steps up to double the slip
frequency until the behaviour does not occur anymore.
 Tip!
In association with the flying restart function, we recommend information provided in this
documentation on the following topic:
Automatic DC-injection braking (Auto-DCB) ( 212)
________________________________________________________________
General information
This function serves to activate a mode which is used to "catch" a coasting motor during operation
without speed feedback. This means that the synchronicity between controller and motor is to be
adjusted in such a way that a jerk-free transition to the rotating machines is achieved in the instant
of connection.
The drive controller determines the synchronicity by identifying the synchronous field frequency.
Duration
The "catching" process is completed after approx. 0.5 ... 1.5 seconds. The duration is influenced by
the starting value. If the field frequency is not known, we recommend a fixed starting value of 10
Hz (or -10 Hz with systems rotating in negative direction).

Value Unit
C00989 Restart on the fly: Flying restart frequency fd_add 0.00 Hz

C00990 Flying restart fct.: Activate Off
C00991 Flying restart fct.: Process -n...+n | Start: +10 Hz
C00992 Flying restart fct.: Start frequency 5 Hz
C00993 Flying restart fct: Int. time 300 ms
C00994 Flying restart fct.: Current 25.00 %
 How to parameterise the flying restart function:

1. Activate the flying restart circuit by selecting "1: On" in C00990.
• Every time the controller is enabled, a synchronisation to the rotating or standing drive
is carried out.
When the Lenze setting is used, most applications do not require additional controller
settings.
If additional settings are necessary, proceed as follows:
2. Define the process and hence the speed range/rotational frequency range in C00991 which
is to be examined by the flying restart circuit:
• positive speed range (n ≥ 0 rpm)
• negative speed range (n ≤ 0 rpm)
• total speed range
3. Define the starting frequency.
The starting frequency which defines the starting point of the flying restart function is 10
or -10 Hz for processes 0 ... 3 and has been pre-optimised for standard motors.
If process 4 is selected in C00991, an arbitrary starting frequency can be defined via
C00992. This is especially recommended for motors with higher rated frequencies.
• We recommend to define a starting frequency of approximately 20 % of the rated motor
frequency to enable a safe and fast connection to standing drive systems.
• For systems with a known search speed (e.g. torque-controlled drive systems which are
to synchronise to a defined speed) the starting value can be adapted to reduce the flying
restart time.
4. Set the flying restart current in C00994.
________________________________________________________________
We recommend setting a flying restart current of 10 % ... 25 % of the rated motor current.
• During a flying restart process, a current is injected into the motor to identify the speed.
• Reducing the current causes a reduction of the motor torque during the flying restart
process. A short-time starting action or reversing of the motor is prevented with low
flying restart currents.
• An increase of the current improves the robustness of the flying restart function.
• At too high mass inertias and high speeds at the same time, the flying restart circuit may
cause an overvoltage in the DC bus ("oU") if no brake resistor is connected. In this case,
reduce the flying restart current.
 Tip!
Use of motors with higher rated frequencies
For trouble-free operation, we recommend to manually enter a starting frequency of 20 %
of the rated motor frequency in C00992 as well as to accelerate the flying restart process
(see above) and to use a lower flying restart current (10 % of the rated motor current) if
motors with higher rated frequencies are used.
Optimisation of the flying restart time
From version 05.00.00 onwards, the duration of the flying restart process can be influenced
via the setting of the integration time (C00993). A reduction of the integration time causes
the flying restart function to accelerate and thus a reduced flying restart time.
• We recommend not to change the Lenze setting of the integration time.
• When special motor are used (e.g. multi-pole motors or ASM servo motors), a reduced
integration time may improve the flying restart behaviour.
Optimising the current controller if the behaviour is unstable
During the execution of flying restart function, peak currents/torques are avoided by
controlling the current amplitude.
Gain (C00075) and reset time (C00076) of the current controller can be adapted to improve
the jerk-free/torque-free connection of the inverter to the supply of the rotating motor.
• We recommend not to change the Lenze setting of the current controller.
• If the behaviour of the current controller is unstable, gain and reset time can be
calculated as per the following formulae:
Vp = Current controller gain (C00075)

L ss [ H ] Ti = Current controller reset time (C00076)
V p = ---------------
-
TE [ s ] Lss = Motor stator leakage inductance (C00085)
Rs = Motor stator resistance (C00084)
TE = Equivalent time constant (= 500 μs)
L ss [ H ]
T i = ---------------
-
Rs [ Ω ]
[5-21] Formulae for the calculation of the gain and reset time of the current controller
________________________________________________________________
5.9.4 DC-injection braking
 Note!
The DC-injection braking function (manually or automatically) is only possible for the
following motor control modes:
• V/f characteristic control (VFCplus) ( 126)
• V/f characteristic control - energy-saving (VFCplusEco) ( 144)
• V/f control (VFCplus + encoder) ( 154)
• Sensorless vector control (SLVC) ( 161)
 Danger!
Holding braking is not possible when this braking mode is used!
For low-wear control of a holding brake, use the basic function "Holding brake control".
( 402)
DC-injection braking allows the drive to be quickly braked to a standstill without the need to use an
external brake resistor.
• The braking current is set in C00036.
• The maximum braking torque to be generated by the DC braking current is approx. 20 ... 30 %
of the rated motor torque. It is lower than that for braking in generator mode with an external
brake resistor.
• The DC-injection braking can be activated manually via a control input of the application or
automatically ("Auto-DCB"). The two different modes are described in the following
subchapters.
 Tip!
DC-injection braking has the advantage that it is possible to influence the braking time by
changing the motor current or the braking torque..
The automatic DC-injection braking (Auto-DCB) improves the starting performance of the
motor in case of V/f operation without speed feedback.

Value Unit
C00019 Auto-DCB: Threshold 3 rpm

• Operating threshold for activating DC-injection
braking
C00036 DC braking: Current 50 %
• Braking current in [%] based on rated device
current (C00098)
C00106 Auto-DCB: Hold time 0.500 s
C00107 DC braking: Hold time 999.000 s
• When "999.000 s" is set, the hold time is infinite.
________________________________________________________________
5.9.4.1 Manual DC-injection braking (DCB)

DC-injection braking can be activated manually for the two technology applications "speed
actuating drive" and "switch-off positioning" by connecting the bSetDCBrake input of the LA_NCtrl
or LA_SwitchPos application block to a digital signal source (e.g. via a digital signal source bCtrl1_B3
of the LP_CanIn1 port block).
• For HIGH-active inputs, DC-injection braking is active as long as the signal is at HIGH level.
• After the hold time (C00107) has expired, the controller set the pulse inhibit.
Short overview of the relevant configuration parameters:

C00701/4 LA_NCtrl: bSetDCBrake Dependent on the selected
• "Speed actuating drive" application: Selection of control mode
the signal source for manually activating DC-
injection braking.
C00761/4 LA_SwitchPos: bSetDCBrake Dependent on the selected
• "Switch-off positioning" application: Selection of control mode
the signal source for manually activating DC-
injection braking.
5.9.4.2 Automatic DC-injection braking (Auto-DCB)

"Automatic DC-injection braking" (referred to in the following as "auto DCB") can be used if there is
a requirement that the drive be isolated from the supply at n ≈ 0.
 Note!
Deactivate automatic DC-injection braking when a holding brake is used!
• For this purpose, go to C00019 and set the auto DCB threshold to "0".
• Background: Controller inhibit is already activated by the Holding brake control.
( 402)
Function
For understanding the auto DCB function, it is necessary to distinguish between three different
types of operation:
A. The drive has been enabled and, in the course of operation, the speed setpoint falls below the
auto DCB threshold.
• In case of V/f operation without speed feedback, a braking current (C00036) is injected. After
the auto DCB hold time (C00106) has expired, the motor is deenergised via the auto DCB
function, i.e. pulse inhibit is set.
• In case of V/f operation with speed feedback, the motor is deenergised via the auto DCB
function after the auto DCB hold time (C00106) has expired, i.e. pulse inhibit is set. The
braking current which can be parameterised in C00036 does not have any effect during
operation with speed feedback.
B. When the controller is enabled, the drive is at standstill (n = 0).
If the enabled drive is to start, the speed setpoint passed via the acceleration ramp must exceed
the auto DCB threshold (C00019). Below this threshold, the motor will not be energised.
________________________________________________________________
C. When the controller is enabled, the motor (still) rotates at a speed which is above the auto DCB
threshold. If the speed setpoint reached via the acceleration ramp exceeds the auto DCB
threshold (C00019), the motor will be energised and the following action will take place:
• During V/f operation without speed feedback, the drive is "caught".Flying restart function
( 208)
• During V/f operation with speed feedback, the drive synchronises to the current actual speed
value.
 Tip!
We recommend to deactivate the auto DCB function during V/f operation with speed
feedback via a setting of C00019 = 0.
Auto DCB function during V/f operation with speed feedback
 Stop!
If the DC-injection braking operation is too long and the braking current or braking
voltage is too high, the connected motor may overheat!
If you want to use the auto DCB function contrary to our recommendation (see above), the auto DCB
threshold must not fall below the following values depending on the number of encoder
increments:
Number of encoder increments Auto-DCB threshold

(C00420) (C00019)
8 16
16 8
32 4
64 2
> 128 No restrictions
Setting the auto-DCB function
 How to set the automatic DC-injection braking:

1. Set a hold time in C00106 > 0 s.
• Automatic DC-injection braking is active for the time set.
• In case of V/f operation without speed feedback, the braking set in C00036 is injected.
• After the set hold time has expired, the controller sets pulse inhibit.
2. Set the operating threshold in C00019.
• The operating threshold can serve to set a dead band in the setpoint. If DC-injection
braking is not to be active then, C00106 must be set to a value of "0".
________________________________________________________________
Explanation of the automatic DC-injection braking function by means of two examples
 The motor rotates at a specified speed.

The current adjusts itself to the load, see
.
0
 The DC braking current set in C00036 is
C00019 injected.
 After the hold time (C00106) has expired,
a pulse inhibit is set.
 Speed setpoint
 Actual speed value of the motor
 Controller output current
2
 Disable voltage
C00036
 DC-injection braking is active
3 C00106
[5-22] Example 1: Auto-GSB signal characteristic during V/f operation without speed feedback
 The motor rotates at a specified speed.

The current adjusts itself to the load, see
.
0
 The current sets itself load-dependent
C00019 until the hold time (C00106) has expired.
 The actual speed value of the motor
follows the speed setpoint. The resulting
current depends on the load.
1
 Speed setpoint
 Actual speed value of the motor
2  Controller output current
C00106
 Disable voltage
 DC-injection braking is active
3
[5-23] Example 2: Auto-GSB signal characteristic during V/f operation with speed feedback
________________________________________________________________
5.9.5 Slip compensation
 Note!
Slip compensation is only active with the following motor control modes:
• Sensorless vector control (SLVC) ( 161)
Under load, the speed of an asynchronous motor decreases. This load-dependent speed drop is
called slip. The slip can partly be compensated for by the setting in C00021.

Value Unit
C00021 Slip compensation 2.11 %
• The setting of C00021 can be done automatically in the course of motor parameter
identification. Automatic motor data identification ( 111)
• The setting must be made manually if the motor parameter identification cannot be called up.
 How to set the slip compensation manually:

1. Set rated motor current (C00088) and rated motor frequency (C00089).
2. Calculate the slip compensation according to motor nameplate data:
s Slip constant (C00021) [%]
n rsyn – n r
s = ----------------------- ⋅ 100% nrsyn Synchronous motor speed [rpm]
n rsyn
nr Rated motor speed according to the motor
f r ⋅ 60 nameplate [rpm]
n rsyn = --------------
- fr Rated motor frequency according to the
p
motor nameplate [Hz]
p Number of motor pole pairs (1, 2, 3 ...)
3. Transfer the calculated slip constant s to C00021.

4. Correct the setting in C00021 while the drive is running until the load-dependent speed
drop does not occur anymore between idling and maximum load of the motor in the
desired speed range.
 Tip!
The following guide value applies to a correctly set slip compensation:
• Deviation from the rated motor speed ≤ 1% for the speed range of 10 % ... 100 % of the
rated motor speed and loads ≤ rated motor torque.
• Greater deviations are possible in the field weakening range.
• If C00021 is set too high, the drive may get unstable.
• Negative slip (C00021 < 0) with V/f characteristic control results in "smoother" drive
behaviour at heavy load impulses or applications requiring a significant speed drop
under load.
________________________________________________________________
5.9.6 Oscillation damping
Mechanical oscillations are undesirable effects in every process and they may have an adverse effect
on the single system components and/or the production output.
Mechanical oscillations in the form of speed oscillations are suppressed by the oscillation damping
function.
Mechanical oscillations may occur:
• In the voltage range (output voltage is lower than max. voltage)
• Here, the oscillations occur in no-load operation.
• Here, speeds of 40 ... 80 % of the rated speed are typical.
• See subchapter "Oscillation damping voltage range". ( 217)
• In the field weakening range (output voltage has reached maximum voltage)
• Here, the oscillations occur in no-load operation and with load.
• Here, speeds higher than the rated speed are typical, especially when the output frequency is
close to the mains frequency.
• See subchapter "Oscillation damping in the field weakening range". ( 218)
________________________________________________________________
5.9.6.1 Oscillation damping voltage range

The oscillation damping voltage range is successfully used with
• unloaded motors (no-load oscillations)
• motors whose rated power deviates from the rated power of the controller.
• e.g. during operation at high switching frequency including the power derating involved.
• operation with higher-pole motors
• operation with special motors
• compensation of resonance in the drive
• At an output frequency of approx. 20 ... 40 Hz, some asynchronous motors can show
resonance which causes current and speed variations and thus destabilise the running
operation.

Value Unit
C00234 Oscillation damping influence 5.00 %

C00235 Oscillation damping filter time 32 ms
 Note!
Compensate the resonance during operation with feedback (closed loop, feedback of
nact) via the parameters of the slip regulator.
Parameterising the slip regulator ( 158)
 How to eliminate speed oscillations in no-load operation at speeds with 40 ... 80 % of the
rated speed:
1. Approach the area where the speed oscillations occur.
2. Reduce the speed oscillations by changing C00234 step by step (increment 1 %).
• The filter time oscillation damping (C00235) should not be changed.
3. These can be indicators for smooth running:
• Constant motor current characteristic
• Reduction of the mechanical oscillations in the bearing seat
________________________________________________________________
5.9.6.2 Oscillation damping in the field weakening range

When the max. possible output voltage (full modulation) has been reached, a voltage dip in the DC
bus causes a voltage fluctuation in the motor. With load and during no-load operation this voltage
fluctuation can cause mechanical oscillations.
The "oscillation damping field weakening" adjustable in C00236 serves to limit the maximum
output voltage. This can be used to always compensate voltage dips in the DC bus to the output
voltage (constant output voltage). This serves to prevent mechanical oscillations due to these
voltage dips.

Value Unit
C00236 Oscillation damping field weakening 14

• Setting "0" ≡ 100 % output voltage can be reached
• With the Lenze setting of C00236 the limitation of the output voltage is set so that voltage dips
in the DC bus in the output voltage for the single-phase and three-phase devices can largely be
compensated so that no speed oscillations may be expected. Thus, an adaptation of C00236 is
not required in the majority of cases.
• Maximum output voltage to be reached with Lenze setting of C00236:
• Single-phase devices: 98.2 %
• Three-phase devices: 99.7 %
 Note!
The limitation of the output voltage via C00236 in the extreme field weakening range
(high speeds) causes a reduction of the max. possible output torque (stalling torque).
• If the output torque to be reached in the extreme field weakening range is not
sufficient (motor is stalling too early), reduce the setting in C00236.
 How to eliminate speed oscillations in the field weakening range:

1. Approach the area where the speed oscillations occur.
2. Reduce the speed oscillations by changing C00236 step by step (increment 1).
3. These can be indicators for smooth running:
• Constant motor current characteristic
• Reduction of the mechanical oscillations in the bearing seat
________________________________________________________________
5.9.7 Phase sequence reversal for correcting misconnected UVW motor phases
 Note!
Up to and including version 11.00.00, this function may only be activated for the
following motor control types:
• V/f characteristic control - energy-saving (VFCplusEco) ( 144)
For all other motor control types, this function must not be activated because the set
control mode would not work in that case!
From version 12.00.00, this function may be activated for all motor control types with
the exception of the ones for synchronous motor.
The activation of this function does not affect the control types for synchronous motor
since these control types require an in-phase connection of the synchronous motor.
If the motor phases are misconnected at the inverter output (e.g. phase u takes the place of phase
v), the motor will rotate in the wrong direction.
To correct such misconnected motor phases, the rotating field of the controller's output can be
reversed by selecting "1: Inverted" in C00905. In this case, a phase will be reversed at the output of
the inverter.
This function does not have any effect on setpoints and actual values, i.e. the polarity of the speed
setpoint/actual speed value, actual torque, output frequency, and AngleOffset do not change.
 Tip!
Cases of application for this function:
• Phase sequence reversal in case of misconnected motor phases.
• Setting of the correctly signed direction of rotation for inversely mounted motors.
5.10 Encoder/feedback system
________________________________________________________________
For motor control with speed feedback, the feedback signal can be fed to the digital terminals
(DI1/DI2) via an HTL encoder.
 Danger!
• To avoid interference when using an encoder, only use shielded motor and encoder
cables.
• If an HTL encoder is used at the digital input terminals:
Observe the maximum input frequencies of the digital inputs!
• DI1/DI2: max. 10 kHz
 Note!
In the Lenze setting (e.g. when the device is delivered), the open-circuit monitoring of the
encoder is activated. Encoder open-circuit monitoring ( 250)
 Wiring diagram, assignment and electrical data of the digital input terminals can be
found in the hardware manual 8400 in the chapter "technical data". The hardware
manual is stored in electronic form on the data carrier supplied with the 8400 controller.
Speed encoder
selection C00496 Encoder evaluation procedure
C00420/1 Encoder number of incr. C00495 C00497/1 Filter time
C00425/1 Encoder sampling time Speed controller/
0
10 kHz slip regulator
1
FreqIn12 2 C00051
Actual speed value
[5-24] Signal flow - encoder interface
 How to get to the parameterisation dialog of the encoder/feedback system:

3. Go to the Overview dialog level and click the following button:
4. Go to the Overview  Motor data dialog level and click the Encoder/Feedback system...
button.
________________________________________________________________

Value Unit
Encoder selection / General settings

C00495 Speed sensor selection 0: No sensor
• Source of feedback signal for speed control.
C00490 Position encoder selection 0: no sensor: nSpeedSetValue_a
• From version 12.00.00
• Selection of the speed signal, the
dnMotorPosAct_p position signal is derived from.
Settings for HTL encoder at DI1/DI2
C00115/1 Fkt. DI 1/2 10kHz 0: DI1=In1 | DI2=In2
• Function of the digital inputs DI1 and DI2
C00420/1 FreqIn12: Encoder increment 128 Inc/rev.
• If the digital inputs DI1 and DI2 are used as
encoder inputs.
C00425/1 FreqIn12: Encoder scanning time 10 ms
encoder inputs.
C00497/1 FreqIn12: Encoder filter time 1.0 ms
encoder inputs.
C00496 Encoder evaluation method DigIn12 ( 224) 1: Low-resolution encoder
(StateLine)
C00055/1 Actual value - HTL encoder FreqIn12 - rpm
Monitoring
C00586 Resp. to encoder open circuit HTL 1: Fault
Encoder open-circuit monitoring ( 250)
________________________________________________________________
General procedure
(if the encoder is connected to the digital inputs DI1 and DI2)
1. Define the function of the digital inputs DI1 and DI2 in C00115/1.
2. Set the encoder increments in C00420/1.
3. Select "1: Encoder signal FreqIn12" in C00495.
4. Adapt the filter time of the speed measurement in C00497/1.
5.10.1 Parameterising digital inputs as encoder inputs
Define the function of the digital inputs DI1 and DI2 in C00115/1.
To be able to use the digital inputs as encoder inputs, select 2, 3, or 4 (Lenze recommendation: 2) in
C00115/ depending on the input terminals used.
Selection in C00115/1 Function

2: (DI1/DI2)=FreqIn12 (2-track) DI1 and DI2 = 2-track frequency input
• Permits a two-track evaluation of the encoder including correct
detection of the direction of rotation.
3: (DI1/DI2=+-)=FreqIn12 DI1 = 1-track frequency input
DI2 = specification of direction
4: DI1=CountIn1 | DI2=In2 DI1 = counter input
DI2 = digital input
 Danger!
For single-track evaluation, make sure that the sign is correctly specified. Otherwise, the
motor may overspeed.
 Note!
If the digital inputs are parameterised as encoder inputs, the corresponding output
signals (bIn1/bIn2) at the LS_DigitalInput system block are automatically set to FALSE.
 The wiring diagram and assignment of the input terminals are described in the 8400
hardware manual . The hardware manual has been stored in electronic form on the data
carrier supplied with the 8400 controller.
Related topics:
Digital terminals ( 261)
Using DI1 and DI2 as frequency inputs ( 266)
________________________________________________________________
5.10.2 Generation of the actual speed value
Up to and including version 11.xx.xx the following applies:

• For motor control types without speed feedback (C00495 = "0: No encoder") a speed-
proportional unit is taken for calculating the nMotorSpeedAct_v speed signal. This derivation,
however, is very imprecise so that in case of applications with synchronous motors without
speed feedback it is not possible to calculate the current position from the current
nMotorSpeedAct_v speed signal.
• The dnMotorPosAct_p position signal is always derived from the nSpeedSetValue_a speed
setpoint. This derivation, however, is very imprecise since in this case, speed limitations (e.g. by
overcurrent limitations) are not considered.
From version 12.00.00 the following applies:
• For applications with synchronous motors without speed feedback, an nMotorSpeedAct_verror-
free speed signal is available. This is calculated from the electrical output angle considering the
number of pole pairs of the nMotorSpeedAct_v speed signal.
• When synchronous or reluctance motors without feedback are used in the motor control types
V/f characteristic control (VFCplus) and Sensorless control for synchronous motors (SLPSM), the
nMotorSpeedAct_v speed signal can be used to create an error-free position signal via a control
if the nMotorSpeedAct_v signal is read out by the control in a 1 ms cycle.
• The speed signal for deriving the dnMotorPosAct_p position signal can now be selected in
C00490. In the Lenze setting, the position signal is continued to be derived from the
nSpeedSetValue_a speed setpoint. If, however, "10: No encoder: C495 or nMotorSpeedSetAct_v"
is selected, the position signal is either calculated from the set speed feedback (if C00495 > 0) or
from the nMotorSpeedAct_v speed signal (if C00495 = 0).
• For all motor control types without speed feedback, this selection serves to improve the
creation of the dnMotorPosAct_p position signal.
• When synchronous or reluctance motors without feedback are used, the dnMotorPosAct_p
position signal can be created correctly.
• In case of the motor control types with speed feedback, the dnMotorPosAct_p position signal
is directly created from the speed feedback signal.
________________________________________________________________
5.10.3 HTL encoder at DI1/DI2
 Note!
At the digital terminals DI1 and DI2, only encoders with HTL level can be used.
In spite of the selected operating mode without encoder feedback, the actual speed
value (C00051) is calculated if an encoder is connected and "1: Encoder signal FrqIn12" is
selected in C00495.
Encoder evaluation method DigIn12

Depending on the encoder used at the digital terminals DI1 and DI2, the following table specifies
which evaluation method should be selected in C00496:
Selection in C00496 Encoder evaluation method

1: Low-resolution encoder High-precision procedure for low-resolution encoders (<=128 increments)
(Lenze setting) • Exact method for speed measurement with automatic scanning time setting
(0.5 … 500 ms) for low-resolution encoders in the range of 4 …. 128 increments.
• Evaluation with automatic scanning time minimisation for an optimum dynamic
performance.
• Method is also suited for encoders with poor signal quality, e.g. for encoders with
high error rate in scanning ratio and phase offset.
• This method requires an equidistant period length per encoder increment.
• Wiring according to EMC (e.g. motor and encoder cable shielding) is required!
3: Edge-counting procedure Simple edge counting procedure with adjustable scanning time (C00425)
• Speed measurement by means of the edges of tracks A and B measured per
scanning interval.
• Integrated correction algorithm for EMC interference.
• Limited suitability for systems with unshielded encoder and/or motor cable.
• Limited suitability for encoders with poor signal quality, i.e. high error rate in
scanning ratio and phase offset.
 Tip!
We recommend the use of the preset procedure for low-resolution encoders (C00496 = 1).
This procedure can also be used for dynamic applications (e.g. V/f + encoder).
________________________________________________________________
Low speeds (except for edge counting)

For the first method (C00496 = 1), the minimum speed that can be measured depends on the
encoder resolution.
The quantisation error
• is independent of the encoder resolution,
• exclusively depends on the encoder quality (encoder errors).
• at least amounts to 0.5 rpm.
Internal arithmetic operations automatically maintain the minimally required value of the scanning
time in order to achieve maximum dynamics.
Encoder Min. measurable speed in [rpm]

resolution
(Number of
increments)
8 16
16 8
32 4
64 2
128 1
256 0.5
Low speeds with edge counting

The minimum speed that can be measured and the quantisation error of speed measurement in the
edge-counting procedure (C00496 = 3) depend on the scanning time that can be set in C00425/1
and the encoder resolution.
Depending on accuracy and the requirements with regard to the dynamic performance, the
respective scanning time must be selected and set in C00425/1:
Encoder Scanning time [ms]

resolution
1 2 5 10 20 50 100 200 500 1000
(Number of
increments) Min. measurable speed in [rpm]
8 1875 938 375 188 93.8 37.5 18.8 9.4 3.8 1.9
16 938 469 188 94 46.9 18.8 9.4 4.7 1.9 0.9
32 469 234 94 46.9 23.4 9.4 4.7 2.3 0.9 0.5
64 234 117 46.9 23.4 11.7 4.7 2.3 1.2 0.5 0.2
128 117 58.6 23.4 11.7 5.9 2.3 1.2 0.6 0.2 0.12
256 58.6 29.3 11.7 5.9 2.9 1.2 0.6 0.3 0.12 0.06
5.11 Braking operation/brake energy management
________________________________________________________________
When braking electrical motors, the kinetic energy of the drive train is fed back regeneratively to the
DC bus. This energy results in a boost of the DC-bus voltage.
• Several different strategies can serve to avoid DC-bus overvoltages:
• Use of a brake resistor
• Stopping of the ramp function generator if brake chopper threshold exceeded (RFG_Stop)
• Use of the "inverter motor brake" function (from version 04.00.00)
• Combination of the above named options
• In the case of inverters with a 3-phase supply, the following is also possible:
• Coupling of the inverters in a DC-bus connection
• Recovery of regenerative energy with a regenerative module
 Stop!
If the connected brake resistor is smaller than required, the brake chopper can be
destroyed!
• Appropriate protective measures are described in subchapter "Avoiding thermal
overload of the brake resistor". ( 234)
If no brake resistor or regenerative module is used, the overvoltage switch-off ("oU") may
respond, e.g. in case of short deceleration times during feedback operation. Error
messages of the operating system ( 444)
________________________________________________________________
Using the integrated brake chopper

We recommend to use the brake chopper (brake transistor) which is integrated into the controller
for the braking operation, regardless of the selected motor mode.
• Connect the required brake resistor to the RB1 and RB2 terminals of the controller.
• In C00175, a ramp function generator stop (FB L_NSet_1) can be set for instances when the
brake resistor is controlled. This prevents overvoltage deactivation in the case of short
deceleration times.Selecting the response to an increase of the DC-bus voltage ( 229)
 Note!
The brake transistor will be switched off if it remains switched on for a period of 4
seconds.
• If the DC-bus voltage falls under the brake chopper threshold for a short time again,
the brake transistor can switch on again for a maximum of 4 seconds, without
interruption.
• This protective function is used to prevent the brake chopper from being switched on
permanently due to e.g. too high voltages at all times or incorrect interconnection of
the bBrakeChopperOn signal (from version V12.00.00).
• From version 14.00.00, the limitation of the operating time can be deactivated to
max. 4 seconds. For this purpose, set bit 1 to "1" in C02864/1.
The integrated brake chopper is always triggered via the DC-bus voltage with
exceedance of the "voltage threshold for braking operation" independent of the device
status.
From version 14.00.00, the brake chopper can also be switched off at pulse inhibit or
when the "Fault" device status is activated.
• For a switch-off at pulse inhibit, set bit 7 to "1" in C02865/1.
• For a switch-off in the "Fault" device status, set bit 2 to "1" in C02864/1.
DC-bus system
For a DC-bus connection with other devices, we recommend to connect the regenerative power
supply module to terminals +UG and –UG.
 Note!
DC-bus system without the use of a regenerative module:
• Up to and including version V11.xx.xx, only one internal brake chopper can be used in
the DC-bus system to dissipate regenerative energy.
• From version V12.00.00, all internal brake choppers can be used in the DC-bus system
to dissipate regenerative energy ("Master-slave operation"). Control of multiple
internal brake choppers in the DC-bus system ( 234)
 In order to install the regenerative module, follow the notes in the 8400 hardware
manual. The hardware manual has been stored in electronic form on the data carrier
supplied with the 8400 controller.
________________________________________________________________
 Proceed as follows to open the dialog for parameterising the brake energy management:
3. Go to the Overview dialog level and click the "basic functions" button.
4. Go to the Overview  basic functions dialog box and click the Brake energy management
button.

Value Unit
C00173 Mains voltage 3ph 400 V / 1ph 230 V

C00175 Brake energy management R_Brake (brake resistance)
Brake resistor
C00133 Brake resistor utilisation - %
C00129 Brake resistance value 39.0 Ohm
C00130 Rated brake resistor power 100 W
C00131 Thermal capacity - brake resistor 10.0 kWs
C00174 Reduced brake chopper threshold 0 V
C00572 Threshold - brake resist. overload 100 %
C00574 Resp. to brake resist. overtemp. No response
Inverter motor brake
C00987 Inverter motor brake: nAdd 80 rpm
C00988 Inverter motor brake: PT1 filter time 0.0 ms
________________________________________________________________
5.11.1 Setting the voltage source for braking operation
The voltage threshold for braking operation is set via the mains voltage (C00173) and the reduced
brake chopper threshold (C00174). When this "brake chopper threshold" is exceeded, the response
selected in C00175 takes place in the DC bus. The selected function (e.g. use of a brake resistor)
serves to dissipate energy in the DC bus and reduce the DC-bus voltage.
• The "brake chopper threshold" is preset as follows so that it is higher than the specified mains
voltage (C00173):
Mains voltage Brake chopper threshold

C00173 1-phase 3-phase 1-phase 3-phase
0 1ph 230V 3ph 400V DC380V DC725V
1 1ph 230V 3ph 440V DC380V DC735V
2 1ph 230V 3ph 480V DC380V DC775V
3 1ph 230V 3ph 500V DC380V DC790V
• This brake chopper threshold can be reduced by 0 ... 150 V by means of C00174.
 Stop!
The brake chopper threshold resulting from C00173 and C00174 must not exceed the
stabilised DC-bus voltage!
Example:
• A 400 V device has a maximum mains voltage of 420 V AC.
• Maximum stationary DC-bus voltage: 420 V AC * 1.414 = 594 V DC
• C00173 has been set with the selection "0" for 400 V AC mains.
• This means that C00174 can be set to a maximum of 131 V DC (725 V DC - 594 V DC).
5.11.2 Selecting the response to an increase of the DC-bus voltage
If the brake chopper threshold resulting from C00173 and C00174 is exceeded in the DC bus, the
reaction selected in C00175 takes place (use of the brake resistor and/or stop of the ramp function
generator and/or inverter-motor brake).
• Optimum following of the actual speed value until the speed setpoint is reached (e.g. the motor
is stopped rapidly) is always achieved with the help of a brake resistor.
• Stopping the ramp function generator enables smoother deceleration with lower torque
oscillation..
• The inverter motor brake is available in C00175 from version 04.00.00 onwards. This function
enables rapid braking without a brake resistor. Torque oscillations can occur due to the
traversing dynamics.Inverter motor brake ( 231)
________________________________________________________________
 Stop!
• The two braking procedures "Stopping of the ramp function generator" and "Inverter
motor brake" can only be used for speed-controlled applications without the
influence of a position controller!
• When the "inverter motor brake" function is used, the Motor overload monitoring
(I2xt) is not adapted. If it is braked too frequently, there is a risk of the motor being
thermally overloaded or the motor overload monitoring does not work properly!
• The "inverter motor brake" function must not be used with vertical conveyors (hoists)
or with active loads!
The way in which the different braking procedures work is demonstrated schematically in the
following illustration:
0 1 2
nSet nSet nSet
t t t
UDC UDC UDC
t t t
 Use of the brake resistor (C00175 = "0: Brake resistor")
 Stopping of the ramp function generator (C00175 = "1: HlgStop")
 Inverter motor brake (C00175 = "3: FI_MotBrk + RfgStop)
[5-25] Graph of the effective speed setpoint and the DC bus voltage during braking
 Tip!
Independent of the selected motor control, all procedures given in C00175 can be used. The
actual speed value always follows the speed setpoint in an optimal way when a brake
resistor is used.
If it is possible to dispense with exact adherence to the deceleration ramp in simple
applications, selection of a braking method without an external brake resistor enables
costs to be reduced due to the avoidance of having to use a brake resistor .
With the "inverter motor brake" function, an effective braking torque of 10 ... 20 % of the
rated motor torque can be achieved.
A combination of all three braking procedures is also possible, e.g. for emergency braking if
the brake resistor fails
(C00175 = "4: Brake resistor + FI_MotBrk + RfgStop").
________________________________________________________________
5.11.2.1 Inverter motor brake

With this braking method, which can be selected as an alternative in C00175, the regenerative
energy in the motor is converted as a result of dynamic acceleration/deceleration with down-
ramping of the ramp function generator..
 Stop!
• This braking method only works without intervention of a position controller in the
case of speed-controlled applications!
• When the "inverter motor brake" function is used, the Motor overload monitoring
(I2xt) is not adapted. If it is braked too frequently, there is a risk of the motor being
thermally overloaded or the motor overload monitoring does not work properly!
• The "inverter motor brake" function must not be used with vertical conveyors (hoists)
or with active loads!
 Tip!
If no brake resistor is used, the DC injection brake can also be used for a braking process in
addition to the "inverter motor brake" and "Stopping of the ramp function generator".
DC-injection braking ( 211)
In applications with high mass inertia and long braking times (> 2 s), we recommend the
use of the DC injection brake.
• The DC injection brake provides for an oscillation-minimised braking. The braking
process generally takes more time than the "inverter motor brake" function with an
optimised setting. Moreover, the function is only recommended for braking to a
standstill.
In the following cases we recommend the "inverter motor brake" function:
• For all applications that do not require braking to a standstill (e.g.braking to a lower
speed setpoint) or the braking process can be interrupted by selecting a new speed
setpoint.
• For applications with low mass inertias and a short braking time (< 1 s).
• For all applications where braking should be as quick as possible.
________________________________________________________________
Operating mode of the inverter motor brake

The ramp function generator is stopped during acceleration. The speed set in C00987 is added to the
speed setpoint by means of a hysteresis-type 2-point DC bus voltage controller, whereby the sign of
the current actual speed is taken into account. In addition, the ramp function generator is stopped
during overvoltage.
If the DC bus voltage falls below a defined DC bus voltage potential of the hysteresis controller, the
added speed is subtracted again and the ramp function generator is activated again.
The energy is converted into heat in the motor due to alternating instances of acceleration and
deceleration as a result of this switching operation.
nSpeedSetValue_a
QSP C00909/1
C00909/2
0
1

QSP ramp nEffSpeedSetValue_a

C00105
C00050
Inverter
motor brake
bLimSpeedSetVal
C00173 C00988
C00174
C00987
DC-bus voltage
 Speed setpoint for motor control
[5-26] Signal flow of the "Inverter motor brake" function
• In case of an asynchronous motor, the additive speed setpoint (C00987) should be 1 … 4 times
the slip of the machine:
C00987 [rpm] = 1 ... 4 ⋅ ( n Sync [rpm] – n Rated [rpm] )

f Rated Hz ⋅ 60
n Sync [rpm] = -------------------------------
-
p
p = number of pole pairs
nRat = Rated speed of the motor
fRat = Rated frequency of the motor
nSync = Synchronous speed of the motor
[5-27] Formula for calculating the additive speed setpoint for an asynchronous motor
• In case of a synchronous motor, the additive speed setpoint (C00987) should be 5 … 20 % of the
rated machine speed.
________________________________________________________________

Value Unit
C00173 Mains voltage 3ph 400V / 1ph 230V

C00174 Reduc. brake chopper threshold 0 V
C00175 Resp. to brake resistor control Brake resistor
C00987 Inverter motor brake: nAdd 80 rpm
• Speed lift which is connected in pulses to the
brake rampe when the motor is braked.
C00988 Inverter motor brake: PT1 filter time 0.0 ms
• PT1 filter time for smoothing the speed lift which
is added in pulses.
 Note!
When the "inverter motor brake" function is used, torque oscillations occur which have
may have a negative effect on the service life of the components of the mechanical drive
train (e.g. gearbox).
• The extent of the occurring oscillations depends on the drive train (mass inertia,
natural frequencies, etc.) and the function setting.
• We recommend optimising the "inverter motor brake" function for an oscillation-free
operation as described in the following. Usually, this setting does not cause any
torque oscillations which affect the service life of the gearbox.
• The settings of implementing a maximum acceleration ramp are only recommended
if the inverter motor brake is used infrequently (e.g. in case of quick stop).
 How to set the "inverter motor brake" function for an oscillation-reduced operation:
For V/f characteristic open-loop control/closed-loop control (VFCplus):
• Set reduced brake chopper threshold (C00174) to approx. 70 V.
• Set additive speed (C00987) to rated slip speed.
• Adapt the deceleration ramp so that the deceleration time is slightly below (10 ... 30 %)
the deceleration time that can be realised with the inverter motor brake.
For sensorless vector control (SLVC):
• Set additive speed (C00987) to 1 ... 2-fold rated slip speed.
 How to set the "inverter motor brake" function for a maximum acceleration ramp:
For V/f characteristic open-loop control/closed-loop control (VFCplus):
• Set additive speed (C00987) to 1,5 ... 2,5-fold rated slip speed.
________________________________________________________________
For sensorless vector control (SLVC):

• Set additive speed (C00987) to 2 ... 4-fold rated slip speed.
5.11.3 Avoiding thermal overload of the brake resistor
• Parameterisation of an error response in C00574 and evaluation of the parameterised error

message within the application or within the machine control system.
• See chapter entitled "Brake resistor monitoring (I2xt)". ( 243)
• External interconnection using the thermal contact on the brake resistor (e.g. supply
interruption via the mains contactor and activation of the mechanical brakes).
5.11.4 Control of multiple internal brake choppers in the DC-bus system
If an additional control signal is used, all internal brake choppers can be used in the DC-bus system
to dissipate regenerative energy ("Master-slave operation").
 Stop!
The integration of external brake choppers (e.g. brake chopper 9352) in the above-
described "Master-slave operation" is not permissible since the voltage levels for the
input and output of the external brake chopper are not suitable for the brake transistor
control or, more precisely, for the output of the state of the brake transistor.
If the internal brake choppers of the DC-bus system are not sufficient, they should be
replaced by an external brake chopper. It can be synchronised with other external brake
choppers, if need be, so that simultaneous switch-on of all external brake choppers is
ensured.
 Note!
For trouble-free operation, the setting of the mains voltage in C00173 must be identical
for all controllers of the DC-bus system since this setting also influences the brake
chopper threshold for switching on the brake chopper.
________________________________________________________________
Functional principle
One of the controllers of the DC-bus system is assigned the role of the "brake chopper master".
• For logical reasons, the "brake chopper master" should be the most powerful controller.
• The "brake chopper master" controls its internal brake chopper via the DC-bus voltage as before.
In addition, the "brake chopper master" transmits the bBrakeChopperActive status signal of its
internal brake chopper control to the other controllers of the DC-bus system via fieldbus or
digital output.
All other controllers of the DC-bus system are "brake chopper slaves".
• The "brake chopper slaves" have the bBrakeChopperActive status signal received from the "brake
chopper master" connected to the bBrakeChopperOn control input.
• If the internal brake transistor of the "brake chopper master" is switched on, the internal brake
transistors of the "brake chopper slaves" are switched on at the same time.
%UDNHFKRSSHUPDVWHU %UDNHFKRSSHUVODYH V

/6B0RWRU,QWHUIDFH /6B0RWRU,QWHUIDFH
E%UDNH&KRSSHU$FWLYH E%UDNH&KRSSHU2Q
& &

/6B0RWRU,QWHUIDFH
E%UDNH&KRSSHU2Q
&
[5-28] Functional principle of the "Brake chopper master-slave operation" (simplified representation)
Procedure
1. Assign the role of the "brake chopper master" to one of the controllers of the DC-bus system.
2. Adapt the function block interconnection for the "brake chopper master" so that the
bBrakeChopperActive status signal of the LS_MotorInterface SB is provided to the other
controllers for controlling the internal brake chopper.
• The bBrakeChopperActive signal can e.g. be output via port block to the fieldbus or via digital
output.
• A free output of the application block can be used to transfer the signal from application level
to I/O level.
3. Configure all other controllers of the DC-bus system as "brake chopper slaves". Select "1: Yes" in
C2866/3 for these controllers.
• With this setting, the brake chopper is not controlled via the DC-bus voltage anymore. Its
control now depends on the bBrakeChopperOn control signal.
4. Adapt the function block interconnection for the "brake chopper slaves" so that the
bBrakeChopperActive signal received from the "brake chopper master" is connected to the
bBrakeChopperOn input of the LS_MotorInterface SB.
• Depending on the output at the "brake chopper master", the signal must be read in e.g. via
port block or digital input.
• A free input of the application block can be used to transfer the signal from I/O level to
application level.
• If the digital inputs/outputs are used for transmitting the signal, they must be connected
electrically accordingly.
________________________________________________________________
 Note!
If the brake chopper master-slave operation is activated, plausibility monitoring is
carried out in the "brake chopper slaves":
• The brake transistor can only be switched on via the bBrakeChopperOn control signal
if the DC-bus voltage is greater than the brake chopper threshold minus 40 VDC.
• Exception: From a mains voltage of 513 VAC (or 725 VDC) and a mains voltage of 480
V or 500 V set in C00173, the plausibility monitoring is not effective anymore.
Fast discharge of the DC bus

The bBrakeChopperOn control input of the "brake chopper master" can be optionally used for a fast
discharge of the DC bus after the supply voltage has been switched off. The FB interconnection f the
"brake chopper master" has to be adapted so that the bBrakeChopperOn control input of the
SB LS_MotorInterface is connected to a digital bus or hardware signal (e.g. digital input on HIGH
level).
 Note!
Only the brake transistor of the "brake chopper master" is switched on with this function
(max. 4 seconds, without interruption).
A complete discharge of the DC-bus cannot be achieved using this function!
From version 14.00.00, the limitation of the operating time can be deactivated to max. 4
seconds. For this purpose, set bit 1 to "1" in C02864/1.
• We recommend this setting when this function is used in order to achieve a higher
discharge of the DC bus - especially in case of high device power.
5.12 Monitoring
________________________________________________________________
5.12 Monitoring
Many monitoring functions that are integrated into the controller can detect errors and thus protect
the device/motor from damage or overload.
• Detailed information on the individual monitoring functions can be found in the following
subchapters.
Monitoring Response Error message

(with activated
Lenze setting Configuration
monitoring)
Device overload monitoring (Ixt) Warning C00604 oC5

Motor overload monitoring (I2xt) Warning C00606 oC6
Motor overcurrent monitoring Fault - oC7
Motor temperature monitoring (PTC) Fault C00585 oH3
Brake resistor monitoring (I2xt) No Reaction C00574 oC12
Motor phase failure monitoring No Reaction C00597 LP1
Motor phase error monitoring before No Reaction C02866/2
operation
Mains phase failure monitoring Warning C00565 Su02
Maximum current monitoring No Reaction C00609 oC10
Maximum torque monitoring No Reaction C00608 oT1
Motor speed monitoring Fault - oS2
Encoder open-circuit monitoring Fault C00586 Sd3
Parameterisable responses
If a monitoring function trips, the response set via the corresponding parameter is carried out. The
following responses can be selected:
• "No response": Response/monitoring is deactivated.
• "Fault": Change of the operating status by a pulse inhibit of the power output stage.
• "Warning": Operating status of the controller remains unchanged. Only a message is entered
into the Logbook of the controller.
Related topics:
Device state machine and device states ( 84)
5.12 Monitoring
________________________________________________________________
5.12.1 Device overload monitoring (Ixt)
C00064/1...3 displays the device utilisation (ixt) in [%] in different time intervals:
Parameter Info
C00064/1 Device utilisation (Ixt)
• Maximum value of pulse utilisation (C00064/2)
and permanent utilisation (C00064/3).
C00064/2 Device utilisation (Ixt) 15s
• Pulse utilisation over the last 15 seconds (only for loads >160 %).
C00064/3 Device utilisation (Ixt) 3 min
• Permanent utilisation over the last 3 minutes.
• If the device utilisation reaches the switch-off threshold set in C00123:

• The error response set in C00604 will be carried out (Lenze setting: "Warning").
• The "oC5: Ixt overload" error message will be entered into the Logbook.
• The bMctrlIxtOverload status output of the LS_DeviceMonitor system block will be set to
TRUE.
• A setting of C00604 = "0: No Reaction" deactivates the monitoring.
5.12 Monitoring
________________________________________________________________
5.12.2 Motor overload monitoring (I2xt)
The Inverter Drives 8400 are provided with a simple, sensorless, thermal I2xt motor monitoring of
self-ventilated standard motors which is based on a mathematical model.
• C00066 displays the calculated motor load in [%].
• If the calculated motor load reaches the motor load setting (C00120):
• The "oC6: I2xt motor overload" error message will be entered into the Logbook.
• The bMctrlI2xtOverload status output of the LS_DeviceMonitor system block will be set to
TRUE.
 Stop!
I2xt motor monitoring does not provide full motor protection!
As the motor utilisation calculated in the thermal motor model is lost after mains
switching, for instance the following operating states cannot be detected correctly:
• Restarting (after mains switching) of a motor that is already very hot.
• Change of the cooling conditions (e.g. cooling air flow interrupted or too warm).
A full motor protection requires additional measures as e.g. the evaluation of
temperature sensors that are located directly in the winding or the use of thermal
contacts.
For the installation according to UL or UR, the safety instructions provided in the
hardware manual must be observed! Among other things, the activation of the motor
overload monitoring (I2xt) is required here.
 Note!
From version 12.00.00, the thermal motor load displayed in C00066 can be pre-
initialised when the device is connected to the mains, optionally using a fixed value or
the value used last at the time when the device was switched off. The desired
initialisation is selected in C00122. In the Lenze setting of C00122, the behaviour
remains unchanged (no initialisation).
5.12 Monitoring
________________________________________________________________
Adjustment of the motor utilisation meter

The motor utilisation meter for indicating the motor load in C00066 begins to count when the
apparent motor current (C00054) is greater than the motor overload setting (C00120).
The overload threshold (C00120) is to be set as follows:
Rated motor current (C00088)

C00120 = ------------------------------------------------------------------------------ ⋅ 100 %
Rated device current (C00098)
• If you reduce C00120 starting from the calculated value, the motor utilisation meter will already
be counted up before the rated overload threshold is reached.
• If you increase C00120 starting from the calculated value, the motor utilisation meter will not
be counted up until the rated overload threshold is reached.
Ir x 100 % Ir x 100 % Ir x 100 %

C00120 < C00120 = C00120 >
IN IN IN
t [s]
f = 20 Hz
360
f = 0 Hz f > 40 Hz
300
240
180
120
60
0
0 0.5 1.0 1.5 2.0 C00054
Ir
f: Output frequency
t: Release time
IN: Rated device current at a switching frequency of f = 8 kHz
Ir : Rated motor current (see nameplate of motor)
C00054: Apparent motor current
C00120: Motor overload setting
[5-29] Tripping characteristic of the I2xt monitoring
Example in Figure [5-29]:

C00120 = Ir /Irated x 100 %
C00054 = 150 % rated motor current
• After approx. 60 seconds, C00066 has reached the final value (100 %) at output frequencies
f > 40 Hz.
• The controller outputs the "oC6: I2xt overload motor" error message and triggers the response
set in C00606 (default setting: "Warning").
5.12 Monitoring
________________________________________________________________
 Tip!
• If forced ventilated motors are used, a premature response of the overload threshold can
be avoided by deactivating this function if necessary (C00606 = "0: No Reaction").
• The current limits set in C00022 and C00023 influence the I2xt calculation only in an
indirect way. However, the operation of the motor at maximum possible load can be
averted. Defining current and speed limits ( 123)
5.12.3 Motor overcurrent monitoring
The ultimate motor current to be parameterised in C00939 is a limit value to protect the motor from
destruction, influence of the rated data and demagnetisation.
• This limit value must not be travelled cyclically in the drive process.
• If the instantaneous value of the motor current exceeds the limit value set in C00939, the error
response "Fault" occurs to protect the motor and the error message "oC7: Motor overcurrent" is
entered into the logbook.
• The maximum currents to be parameterised in C00022 and C00023 should have a sufficient
distance to this limit value.
 Note!
If a Lenze motor is selected from the catalogue whose plant parameters are transferred
into the controller, the setting of the maximum current in C00022 and C00023 will
automatically be adapted to the selected motor.
Related topics:
Maximum current monitoring ( 248)
5.12 Monitoring
________________________________________________________________
5.12.4 Motor temperature monitoring (PTC)
For detecting and monitoring of the motor temperature, a PTC thermistor (DIN 44081/DIN 44082)
or a thermal contact (NC contact) can be connected to the terminals X106/T1 and X106/T2.
 Stop!
• The controller can only evaluate one PTC thermistor!
Do not connect several PTC thermistors in series or parallel.
• If several motors are operated on one controller, use thermal contacts (NC contacts)
connected in series.
• To achieve full motor protection, an additional temperature monitoring with separate
evaluation must be installed.
 Note!
• In the Lenze setting (C00585 = "1: Fault"), motor temperature monitoring is activated!
• There is a wire jumper between the terminals X106/T1 and X106/T2 by default.
• Lenze three-phase AC motors are provided with a thermal contact on delivery.
• If 1.6 kΩ < R < 4 kΩ at the terminals X106/T1 and X106/T2, the monitoring will respond, see
functional test below.
• If the monitoring responds:
• The error response set in C00585 is activated (Lenze setting: "Fault").
• The "oH3: Motor temperature (X106) triggered" error message is entered into the Logbook.
• The bMctrlMotorPtc status output of the LS_DeviceMonitor system block is set to TRUE.
 Tip!
We recommend to always activate the PTC input when using motors which are equipped
with PTC thermistors or thermostats. This prevents the motor from being destroyed by
overheating.
Functional test
Connect a fixed resistor to the PTC input:
• R > 4 kΩ : Fault message must be activated.
• R < 1 kΩ : Fault message must not be activated.
5.12 Monitoring
________________________________________________________________
5.12.5 Brake resistor monitoring (I2xt)
Due to the converted braking power, the brake resistor is thermally stressed and can even be
thermally destroyed by excessive braking power.
The monitoring of the I2xt utilisation of the controller serves to protect the brake resistor. It acts in
proportion to the converted braking power.
 Danger!
In the Lenze setting (C00574 = "0: No Reaction"), the response of the monitoring function
does not stop the braking process!
In particular for applications such as hoists or applications with a DC-bus connection, it
must be checked if a stopping of the braking process due to a setting of C00574 = "1:
Fault" is permissible.
 Stop!
Implement appropriate protective measures against thermal overload of the brake
resistor!
Examples:
• Parameterisation of an error response in C00574 and evaluation of the parameterised
error message within the application or the machine control system.
• Interruption of the mains supply by means of the temperature contact at the brake
resistor and a simultaneous activation of the mechanical brake.
• If the I2xt utilisation reaches the switch-off threshold set in C00572:

• The error response set in C00574 will take place.
• The "oC12: I2xt brake resistor overload" error message is entered into the Logbook.
• The bMctrlBrakeChopperFault status output of the LS_DeviceMonitor system block will be set
to TRUE.
• If the system is dimensioned correctly, the monitoring should not be activated. If individual
pieces of rated data of the actually connected brake resistor are not known, they have to be
identified.
• If the DC-bus voltage exceeds the overvoltage threshold due to a braking energy that is too high,
the monitoring for overvoltage in the DC bus is activated ("OU: DC-bus overvoltage" error
message).
• Apart from the threshold of the I2xt utilisation that can be set in C00572, there is the switching
threshold of the brake transistor which results from the mains voltage (C00173) and the
reduced brake chopper threshold (C00174).
5.12 Monitoring
________________________________________________________________
Temperature model
Temperature model
J
I2xt
IBr
C00129
)
C00138
C00130
IOn = 1 C00131 C00572 C00574
IOff = 0
 Error message: "oC12: I2xt overload brake resistor"
[5-30] Signal flow for monitoring the brake resistor
The monitoring function calculates the braking current IBr from the current DC-bus voltage UDC_act
and the brake resistance parameterised in C00129:
U DC_act
I Br = -------------------
-
C00129
 Note!
The monitoring function can also be triggered due to a value entered in C00129
although a brake resistor is not even connected.
• The calculation considers the thermal utilisation of the brake resistor based on the following
parameters:
• Resistance value (C00129)
• Continuous power (C00130)
• Thermal capacity (C00131)
• In the Lenze setting these parameters are preset with the corresponding power-adapted Lenze
brake resistor.
• C00133 indicates the calculated utilisation of the brake resistor in [%].
• A utilisation of 100 % corresponds to the continuous power of the brake resistor depending
on the maximally permissible temperature limit.
Related topics:
Braking operation/brake energy management ( 226)
5.12 Monitoring
________________________________________________________________
5.12.6 Motor phase failure monitoring
 Note!
In the Lenze setting (C00597 = "0: No Reaction"), the motor phase failure monitoring is
not activated!
In the case of a synchronous motor,
• the motor phase failure monitoring is basically deactivated. (Due to the low no-load
current, the monitoring would be permanently activated.)
• only the Motor phase error monitoring before operation is active (for Lenze setting
C2866/2 = "1: Yes").
In order to safely detect the failure of a motor phase, a certain motor current must flow for the
current sensor system. Thus, the response set in C00597 (Lenze setting: "No Reaction") is caused
after a delay time of maximally 2 s after controller enable if a current-carrying motor phase U, V, W
fails or if motor connection is missing. If the current threshold value set in C00599 is already
exceeded within the delay time, the motor phase failure monitoring starts from this point in time.
The monitoring mode checks the current flow for each motor phase as a function of the
commutation angle. Monitoring is activated if a commutation angle of approx. 140° is covered
without the current set in C00599 being exceeded. Monitoring is activated at an output frequency
of 0 Hz if none of the three motor phases reaches the threshold value set in C00599.
• If the motor phase failure detection is tripped:
• The response set in C00597 will take place.
• The error message "LP1: Motor phase failure" is entered into the logbook.
• The bMctrlMotorPhaseFault status output of the LS_DeviceMonitor system block is set to
TRUE.
 Note!
If an error response of "1: Fault" is set in C00597, the bMctrlMotorPhaseFault status
output of the LS_DeviceMonitor SB will be set to TRUE for only 1 second in the event of
a motor phase failure because it is no longer possible to detect a motor phase fault via
the error response with a pulse inhibit. However, the Logbook and C00561/3...5 still
display the cause of the motor phase failure.
• The motor phase failure detection is inactive if

• a controller inhibit is set,
• connection to a rotating machine is carried out (flying restart circuit or connection to actual
speed value),
• an error is pending due to a DC-bus overvoltage ("OU"),
• motor parameter identification is carried out,
• DC-injection braking is active.
5.12 Monitoring
________________________________________________________________
5.12.7 Motor phase error monitoring before operation
This extended motor phase failure monitoring can both detect a phase failure on the basis of test
signals and check for the existence of the motor.
• The "motor phase error monitoring before operation" is only directly active after controller
enable if
• an error response is set in C00597 AND
• the motor phase error monitoring is switched on (C2866/2 = "1: Yes").
• The following parameters show the cause of the motor phase failure:
• C00561/3: Motor phase U
• C00561/4: Motor phase V
• C00561/5: Motor phase W
 Note!
The motor phase error monitoring before operation must not be connected to a rotating
or coasting machine (high compensation currents and effect of the DC injection
braking).
• In case of motor control with feedback, no motor phase error monitoring is executed
if the actual speed value is > 10 rpm.
• In case of motor control without feedback, the user must ensure that the motor phase
error monitoring will only be executed if the speed is 0.
If the motor is at quick stop and the brake is applied, no motor phase error monitoring is
executed when quick stop is deactivated (same with "0" speed and applied brake).
If the rated current of the connected motor is lower than 10 % of the rated device
current, the motor phase error monitoring can be activated although no motor phase
error has occurred. In this case, the motor phase error monitoring must be switched off
before operation (C2866/2 = "0: No").
5.12 Monitoring
________________________________________________________________
 Note!
With automatic brake control:
In case of automatic brake control, the brake will only be released if no motor phase
failure exists and the magnetisation of the field-oriented control types is completed.
With manual brake control:
In case of manual brake control and forced release of the brake, the brake will be
controlled directly as before.
The user himself must ensure that the brake will only be opened if all of the following
conditions are met:
• Motor phase failure monitoring (C00597) and motor phase error monitoring before
operation (C2866/2) are active.
• The controller is enabled (controller enable).
• The bMctrlMotorPhaseFault status output of the SB LS_DeviceMonitor is set to FALSE.
• Bit 10 of the MCTRL_Status3 status word must be set to 0 before the brake opening is
triggered.
• When the controller is enabled, this bit is set to 1 and will not be set to 0 again
before the "Motor phase error monitoring before operation" is successfully
completed.
• The MCTRL_Status3 status word can be integrated in the application via
configuration parameters (e.g. C00620) (MCTRL_Status3 = selection 34906 in
Selection list - analog signals).
5.12 Monitoring
________________________________________________________________
5.12.8 Mains phase failure monitoring
 Stop!
Under load, the mains input of a three-phase controller can be destroyed if the device is
only supplied by two phases (e.g. if a mains phase fails).
The drive controller has a simple mains-phase failure detection function with which a mains phase
failure can be detected under load.
• In the case of power-adapted machines, approx. 50 % of the rated motor power must be
exceeded so that a main-phase failure can be detected.
• If the mains phase failure monitoring is tripped:
• The "Su02: One mains phase is missing" error message will be entered into the logbook.
• The bMctrlMainsFault status output of the LS_DeviceMonitor system block will be set to
TRUE.
5.12.9 Maximum current monitoring
 Note!
In the Lenze setting (C00609 = "0: No Reaction"), the maximum current monitoring is not
activated!
If a Lenze motor is selected from the catalogue whose plant parameters are transferred
into the controller, the setting of the maximum current in C00022 and C00023 will
automatically be adapted to the selected motor.
If the parameterised maximum current is reached, the response set in C00609 is triggered (Lenze
setting: "0: No Reaction").
If the activated monitoring is tripped:
• The "oC10: Maximum current reached" error message is entered in the logbook.
Related topics:
Motor overcurrent monitoring ( 241)
5.12 Monitoring
________________________________________________________________
5.12.10 Maximum torque monitoring
 Note!
In the Lenze setting (C00608 = "0: No Reaction"), the maximum torque monitoring is not
activated!
If the maximum possible torque C00057 is reached at the motor shaft, the response set in C00608
will be carried out (Lenze setting: "0: No Reaction").
If the activated monitoring is tripped:
• The "oT1: Maximum torque reached" error message is entered into the logbook.
• The bMctrlTorqueMax status output of the LS_DeviceMonitor system block will be set to TRUE.
5.12.11 Motor speed monitoring
If the drive reaches the maximally permissible motor speed (C00965):

• The error response "Fault" occurs, i.e. the inverter is inhibited and the motor changes to torque-
free operation (coasts down).
• The error message "oS2: Max. motor speed reached" is entered into the logbook.
5.12 Monitoring
________________________________________________________________
5.12.12 Encoder open-circuit monitoring
 Note!
In the Lenze setting (C00586 = "1: Fault"), open-circuit monitoring of the encoder is
activated!
When does the open-circuit monitoring system respond?

The open-circuit monitoring will trigger if
• an open circuit occurs in the encoder cable.
• an extreme overload (e.g. blocked motor shaft) occurs during the start-up phase of the motor.
• highly dynamic reversion of the motor occurs.
Which measured values lead to an actuation of the open-circuit monitoring system?

The following measured values checked for plausibility lead to an actuation of the open-circuit
monitoring system:
1. If the total deviation between actual speed and setpoint speed is higher than f = 40 Hz for a time
> 0.1 s .
2. If the sign of the injected frequency and the actual speed is not the same, the Imax controller is
active and this status is active for 0.1 s. Usually this is the case when A/B tracks are reversed.
Response to open circuit

• If the open-circuit monitoring is tripped:
• The error response set in C00586 is activated (Lenze setting: "Fault").
• The "Sd3: Open circuit - feedback system" is entered into the Logbook.
• The bMctrlEncoderComFault status output of the LS_DeviceMonitor SB is set to TRUE.
Related topics:
Encoder/feedback system ( 220)
5.13 Internal interfaces | System block "LS_MotorInterface"
________________________________________________________________
The LS_MotorInterface system block provides the internal interfaces to the driving machine in the
function block editor.
/6B0RWRU,QWHUIDFH
Q3RV&WUO2XW/LPLWBD E/LP3RV&WUO2XW
Q3RV&WUO3$GDSWBD Q2XWSXW3RV&WUOBD
Q6SHHG+LJK/LPLWBD GQ0RWRU3RV$FWBS
Q6SHHG/RZ/LPLWBD GQ0RWRU'HOWD3RV$FWBS
E6SHHG&WUO3$GDSW2Q E/LP6SHHG&WUO2XW
Q6SHHG&WUO3$GDSWBD 0&75/ E/LP6SHHG6HW9DO
E6SHHG,QWHUSRODWRU2Q Z0D[0RWRU6SHHG
Q7RUTXH0RW/LPLWBD Q2XWSXW6SHHG&WUOBD
Q7RUTXH*HQ/LPLWBD Q6SHHG&WUO,$FWBD
[5-31] LS_MotorInterface system block (excerpt)
Inputs

nPosCtrlOutLimit_a Limitation of the position controller output

C00830/21 | INT • Scaling: 16384 ≡ 100 % reference speed (C00011)
nPosCtrlPAdapt_a Adaptation of the position controller gain
C00830/20 | INT • Scaling: 16384 ≡ 100 % Vp position controller
nSpeedHighLimit_a Upper speed limit for the speed limitation
• Scaling: 16384 ≡ 100 % reference speed (C00011)
Note:
The speed limitation operates with a internal hysteresis of 50 rpm. The upper or
lower speed limit resulting from the settings has to be higher than this hysteresis!
nSpeedLowLimit_a Lower speed limit for speed limitation
Note:
The speed limitation operates with a internal hysteresis of 50 rpm. The upper or
lower speed limit resulting from the settings has to be higher than this hysteresis!
bSpeedCtrlPAdaptOn Adaptation of the speed controller gain
C00833/69 | BOOL
FALSE Deactivate adaptive adaptation.
TRUE Activate adaptive adaptation.
nSpeedCtrlPAdapt_a Adaptation of the speed controller gain
C00830/25 | INT • Scaling: 16384 ≡ 100 % Vp (C00070)
bSpeedInterpolatorOn Speed setpoint interpolation
C00833/28 | BOOL
FALSE Deactivate interpolation
TRUE Activate interpolation
________________________________________________________________

nTorqueMotLimit_a Torque limitation in motor mode and in generator mode

C00830/29 | INT • The drive cannot output a higher torque in motor/generator mode than set here.
nTorqueGenLimit_a • The applied values (any polarity) are internally interpreted as absolute values.
C00830/28 | INT
• If V/f characteristic control (VFCplus) is selected, limitation is indirectly
performed via a so-called Imax controller.
• If sensorless vector control (SLVC) is selected, limitation has a direct effect on the
torque-producing current component.
• Scaling: 16384 ≡ 100 % Mmax (C00057)
Torque limits in motor and generator mode:
TorqueGenLim M
TorqueMotLim
MN
-nN nN n
-MN
TorqueMotLim
TorqueGenLim
bTorqueInterpolatorOn Torque setpoint interpolation

C00833/29 | BOOL
FALSE Deactivate interpolation
TRUE Activate interpolation
nVoltageAdd_a Additive voltage impression
C00830/31 | INT • An additional setpoint for the motor voltage can be specified via this process
input.
• If there are, for instance, different loads at the motor output end, it is possible to
apply a voltage boost at the starting time.
• If the value is negative, the voltage is reduced.
• Scaling: 16384 ≡ 1000 V
This process signal also serves to implement a load adaptation.
Example of V/f characteristic control (VFCplus): Adaptation of the voltage
characteristic as a function of the load in motor mode/in generator mode in case of
CW/CCW rotation
2SHUDWLRQLQ 2SHUDWLRQLQ
JHQHUDWRUPRGH PRWRUPRGH
9 RXW
WLF
LV
HU
FW
UD
KD
IF
9
Q9ROWDJH$GGBD
Q
• CW rotation in motor mode: Increase voltage
• CCW rotation in generator mode: Reduce voltage
 Stop!
current!
bAutoBoostOn Reserved
C00833/32 | BOOL
________________________________________________________________

nBoost_a Process signal for the Vmin boost

C00830/26 | INT • This signal is added to C00016 and has thus an increasing or decreasing effect.
• This signal serves to implement a load-dependent Vmin boost to improve the
torque behaviour in different load states, as for instance in case of operation in
generator or motor mode.
• Scaling: 16384 ≡ 100 % rated device voltage VFU (400 V or 230 V)
 Stop!
current!
bPosCtrlOn Inputs of 8400 StateLine have no function!
bDeltaPosOn
dnDeltaPos_p
dnPosSetValue_p
bPosDerivativeOn
bMotorRefOffsetOn
dnMotorRefOffset_p
bQspOn Quick stop
C00833/33 | BOOL
FALSE Deactivate quick stop
TRUE Activate quick stop
nPWMAngleOffset_a Angle step change of output voltage phasor
C00830/32 | INT • Scaling: 65535 ≡ 1 revolution
bSpeedCtrlIOn Directly set the I-component of speed controller
C00833/31 | BOOL • In order to statically specify a minimum torque, e.g. when a load is being lifted.
TRUE Se the I-component of the speed controller to the value
nSpeedCtrlI_a.
nSpeedCtrlI_a Value of the speed controller integrator
C00830/24 | INT • Scaling depends on the selected motor control:
• V/f control (VFCplus + encoder):
16384 ≡ 100 % reference speed (C00011)
• Vector control (SLVC):
16384 ≡ 100 % Mmax (C00057)
nSpeedSetValue_a Speed setpoint
C00830/22 | INT • Scaling: 16384 ≡ 100 % reference speed (C00011)
bTorquemodeOn Selection: Speed/Torque control
C00833/30 | BOOL
FALSE Speed control with torque limitation
TRUE Torque control with speed limitation
nTorqueSetValue_a Torque setpoint / additive torque
bDcBrakeOn Activate DC injection brake
C00833/34 | BOOL
FALSE Deactivate DC-injection braking
TRUE Activate DC-injection braking
bTorqueLimitAdaptOn Adaptation of torque limitation
C00833/98 | BOOL
TRUE Activate adaptation of torque limitation.
nTorqueLimitAdapt_a Value for adaptation of torque limitation
C00830/70 | INT • Scaling: 16384 ≡ 100 % nTorqueMotLimit_a and nTorqueGenLimit_a
________________________________________________________________

nInertiaAdapt_a Adaptation of the moment of inertia

C00830/96 | INT • This process signal can be used during the process to dynamically control the
percentage of the variable moment of inertia (e.g. a reel) set in C00919/1 which
is to be considered for setpoint feedforward control.
• Scaling: 16384 ≡ 100 % moment of inertia - process (C00919/1)
bBrakeChopperOn Switch on the internal brake chopper as "brake chopper slave" (C02866/3 = "1: Yes")
C00833/130 | BOOL when the controller is configured
Control of multiple internal brake choppers in the DC-bus system ( 234)
TRUE Switch on internal brake chopper.
nSpeedSetValueInertia_a Input for differential setpoint feedforward control (torque feedforward control)
C00830/97 | INT • If the selection "1: nSpeedSetValueInertia_a" is set in C00654/1, this process
signal can be used to preselect any input value (e.g. setpoint of the position or
process controller) for torque feedforward control.
bVfcEcoDisable Deactivate energy optimisation for VFCplusEco
C00833/131 | BOOL Improving the behaviour at high dynamic load changes
FALSE Activate energy optimisation.
TRUE Deactivate energy optimisation.
Outputs
bLimPosCtrlOut "Position controller output inside the limitation" status signal

BOOL
TRUE The position controller output is internally limited
nOutputPosCtrl_a Position controller output
INT • Scaling: 16384 ≡ 100 % reference speed (C00011)
dnMotorPosAct_p Current position of the motor shaft in [increments]
DINT
dnMotorDeltaPosAct_p Current following error in [increments]

DINT • Following error = Difference between set position and actual position
bLimSpeedCtrlOut "Speed controller or manipulating variable of the slip regulator inside the limitation"
BOOL status signal
TRUE The speed controller output is internally limited
bLimSpeedSetVal "Reduction or increase of the setpoint speed active" status signal
BOOL
TRUE Reduction or increase of the setpoint speed by the Imax controller is
active
wMaxMotorSpeed Reference speed (C00011)
C00011 | BOOL
nOutputSpeedCtrl_a Speed controller output

INT • Scaling: 16384 ≡ 100 % Mmax (C00057)
• In case of the "VFC (+encoder)" motor control, this output is the output of the slip
regulator. In this case, the scaling depends on the reference frequency (display in
C00059):
• C00059 < 650 Hz: 16384 ≡ 327.68 Hz (24000 ≡ 480.00 Hz)
• C00059 > 650 Hz: 16384 ≡ 655.36 Hz (12000 ≡ 480.00 Hz)
nSpeedCtrlIAct_a Current value of speed controller integrator
INT • Scaling depends on the selected motor control:
• V/f control (VFCplus + encoder):
16384 ≡ 100 % reference speed (C00011)
• Vector control (SLVC):
16384 ≡ 100 % Mmax (C00057)
nEffSpeedSetValue_a Effective speed setpoint
________________________________________________________________
nMotorSpeedAct_a Actual speed value

C00051 | INT • Scaling: 16384 ≡ 100 % reference speed (C00011)
nMotorSpeedAct_v Actual speed value
INT • Scaling: 65535 ≡ 1 revolution
nMotorFreqAct_a Current field frequency
C00058 | INT • Scaling depends on the reference frequency (display in C00059):
• C00059 < 650 Hz: 16384 ≡ 327.68 Hz (24000 ≡ 480.00 Hz)
• C00059 > 650 Hz: 16384 ≡ 655.36 Hz (12000 ≡ 480.00 Hz)
bLimTorqueSetVal "Setpoint torque inside the limitation" status signal
BOOL
TRUE The setpoint torque is internally limited
wMaxMotorTorque Maximum motor torque
C00057 • Scaling: 100 = 0.01 Nm
• From version 06.00.00:
wMaxMotorTorque = 10 * Mmax (C00057)
nInputTorqueCtrl_a Input value of the torque control (torque setpoint)
nMotorTorqueAct_a Actual torque
C00056/2 | INT • In the "VFC (+encoder)" motor control mode, this value is determined from the
current motor current and only approximately corresponds to the actual torque
value..
• Scaling: 16384 ≡ 100 % Mmax (C00057)
nInputJerkCtrl_a Input value of the jerk limitation
bLimCurrentSetVal "Current setpoint inside the limitation" status signal
BOOL
TRUE The current setpoint is internally limited
nStatorCurrentIS_a Current stator current/effective motor current
INT • Scaling: 16384 ≡ 100 % Imax_mot (C00022)
nEffCurrentIq_a Current torque-producing cross current
nReaktCurrentId_a Current field-producing direct-axis current
nActualFluxx_a Current magnetising current
nDCVoltage_a Actual DC-bus voltage
INT • Scaling: 16384 ≡ 1000 V
nMotorVoltage_a Current motor voltage/inverter output voltage
INT • Scaling: 16384 ≡ 1000 V
bQspActive "Quick stop active" status signal
BOOL
TRUE Quick stop is active
bAutoDCBActive "Automatic DC-injection braking active" status signal
BOOL DC-injection braking ( 211)
TRUE Automatic DC-injection braking is active
bIdentificationActive "Motor parameter identification active" status signal
BOOL Automatic motor data identification ( 111)
TRUE Motor parameter identification is active
bFlyingSyncActive "Flying restart function active" status signal
BOOL Flying restart function ( 208)
TRUE Flying restart function is active
________________________________________________________________
bHlgLoad Control signal for an additional loading function of the ramp function generator
BOOL •  L_NSet_1.bExternalCINH
• To enable the ramp function generator to follow automatically when the
controller is inhibited, for jerk-free setpoint connection.
TRUE Set the ramp function generator to a setpoint of nHlgSetValue_a
nHlgSetValue_a Setpoint for an additional loading function of the ramp function generator
INT •  L_NSet_1.nCInhVal_a
• For speed-controlled drive tasks, the current actual speed value (e.g. in case of an
active pulse inhibit, flying restart function, controller inhibit) is provided at this
output.
bHlgStop Control signal for stopping the ramp function generator (L_NSet_1)
BOOL
TRUE Stop the ramp function generator
bBrakeChopperActive Status signal of the internal brake chopper control
BOOL Control of multiple internal brake choppers in the DC-bus system ( 234)
TRUE Internal brake chopper is switched-on.
nVoltageAngleAct_a Current electrical voltage output angle of the controller
INT • Scaling: 16384 ≡ 360°
bLimSpeedTorquemodeOn Status signal of torque control with speed limitation

BOOL
(from version 13.00.00) TRUE Speed limitation for torque control is active.
5.14 Internal status signals | System block "LS_DeviceMonitor"
________________________________________________________________
The LS_DeviceMonitor system block provides the status signals of the motor control in the function
block editor.
 Note!
The LS_DeviceMonitor system block can only be inserted on the application level.
If status signals of the motor control function are to be output via digital outputs or
example, you can use the free bFreeOut1 ... bFreeOut8 outputs of the application block
to transfer the desired status signals from the application level to the I/O level. On the
I/O level, you can then establish the logical link to the digital output terminals.
/6B'HYLFH0RQLWRU
E0FWUO,PS$FWLYH
E0FWUO&ODPS$FWLYH
E0FWUO0RWRU3KDVH)DXOW
E0FWUO(QFRGHU&RP)DXOW
'HYLFH E0FWUO1PD[
E0FWUO7RUTXH0D[
PRQLWRU E0FWUO)&KRS5HGXFHG
E0FWUO,[W2YHUORDG
Q0FWUO,[W5DWHBD
[5-32] LS_DeviceMonitor system block (excerpt)
Outputs
Data type
bMctrlImpActive TRUE Pulse inhibit is active

BOOL
bMctrlClampActive TRUE Clamp current limitation is active

BOOL
bMctrlMotorPhaseFault Status of the Motor phase failure monitoring

BOOL
TRUE Motor phase fault has been detected
bMctrlEncoderComFault TRUE Encoder error has been detected
BOOL
bMctrlNmax TRUE Max. speed limitation is active

BOOL
bMctrlTorqueMax Status of the Maximum torque monitoring

BOOL
TRUE Max. torque limitation is active
bMctrlFChopReduced TRUE PWM frequency reduction is active
BOOL
bMctrlIxtOverload Status of the Device overload monitoring (Ixt)

BOOL
TRUE Device utilisation (Ixt) ≥ device utilisation threshold (C00123)
• Lenze setting: C00123 = 100 %
nMctrlIxtRate_a Current device utilisation (Ixt)
INT • Scaling: 16384 ≡ 100 %
________________________________________________________________
Data type
bMctrlI2xtOverload Status of the Motor overload monitoring (I2xt)

BOOL
TRUE Thermal motor overload (I2xt) ≥ motor overload setting (C00120)
• Lenze setting: C00120 = 100 %.
nMctrlI2xtRate_a Current thermal motor load (I2xt)
INT • Scaling: 16384 ≡ 100 %
bMctrlMotorPTC Status of the Motor temperature monitoring (PTC)
BOOL
TRUE Temperature monitoring: An error has been detected
bMctrlMotorTemp TRUE Thermal motor overload
BOOL
bMctrlHeatSinkTemp TRUE Thermal inverter overload

BOOL • The heatsink temperature (display in C00061) has reached the
maximally permissible temperature. The "oH1: Overtemperature
heatsink" error message is pending and the "Fault" response is
activated.
• Furthermore, this output is set if the heatsink temperature has
exceeded the maximally permissible temperature for the
switching frequency set. A response with an "oH4: Heatsink
temp.. > switch-off temp. -5°C" error message can be set in
C00582. In the Lenze setting, no response will be effected.
bMctrlMainsFault Status of the Mains phase failure monitoring
BOOL
TRUE Mains phase failure/Mains failure
bMctrlFanFault TRUE Fan monitoring: An error has been detected
BOOL
bMctrlNmaxForFChop TRUE The maximum field frequency for the respective switching
BOOL frequency has been exceeded.
bMctrlShortCircuit TRUE Motor short circuit has been detected
BOOL
bMctrlEarthFault TRUE Earth fault has been detected

BOOL
bMctrlUVDetected TRUE An undervoltage has been detected

BOOL
bMctrlOVDetected TRUE An overvoltage has been detected

BOOL
bMctrlBrakeChopperFault Status of the Brake resistor monitoring (I2xt)

BOOL • This output is set independent of the set error response of the monitoring
function.
TRUE The I2xt utilisation has reached the switch-off threshold set in
C00572.
• Lenze setting: C00572 = 100 %.
wUB24V Current 24 V supply voltage
WORD • Scaling: 1000 ≡ 1.000 V
nMctrlActiveOutputPower_a Current active output power
INT • Scaling: 16384 ≡ double rated power of the controller
nMctrl Current apparent output power

ApparentOutputPower_a • Scaling: 16384 ≡ double rated power of the controller
INT
nMctrlCosinePhiAct_a Current cosine phi

INT • Scaling: 16384 ≡ cosine phi of 1.0
________________________________________________________________
Data type
bWirebreakUfLinearActive Status "V/f emergency operation due to encoder open circuit active"
BOOL • The internal change-over to "V/f emergency operation" can be suppressed by
setting bit 8 to "1" in C02864/1.
TRUE Due to an encoder open circuit, it is internally switched to the
encoderless V/f characteristic control in order to avoid impermissible
motor movements. This does not influence the setting in C00006.
6 I/O terminals
________________________________________________________________
6 I/O terminals
This chapter provides information on the function, possible parameter settings, and technical data
of the input/output terminals of the controller.
In the »Engineer«, the input and output terminals are parameterised on the Terminal assignment
tab. To do this, go to the Control terminals list field and select the terminals that you wish to
parameterise:
You can find further information in the respective subchapter:

Analog terminals ( 280)
 Note!
The input and output terminals of the drive controller have already been functionally
assigned in the default setting ("Lenze setting"). The preconfigured assignment depends
on the technology application selected in C00005 and the control mode selected in
C00007:
• TA "Actuating drive speed": Terminal assignment of the control modes ( 309)
• TA "Switch-off positioning": Terminal assignment of the control modes ( 369)
 Wiring diagram, assignment and electrical data of the input and output terminals can be
found in the hardware manual 8400 in the chapter "technical data". The hardware
manual is stored in electronic form on the data carrier supplied with the 8400 controller.
 Tip!
How you can alter the preconfigured assignment of the input and output terminals is
described in the chapter entitled "User-defined terminal assignment". ( 289)
6 I/O terminals
6.1 Digital terminals
________________________________________________________________
The digital input terminals together with the digital output terminals are located on the X4 plug
connector.
Digital input terminals

The drive controller has 4 parameterisable input terminals (DI1 ... DI4) for detecting digital signals.
The RFR control input for enabling the controller is permanently connected to the device control
unit.
Digital output terminals

The controller has
• a parameterisable output terminal (DO1) for outputting digital signals,
• a relay output (terminal strip X101),
 Note!
Initialisation behaviour:
• After mains switching up to the start of the application, the digital output remains set
to FALSE.
Exception handling:
• In case of a critical exception in the application (e.g. reset), the digital output is set to
FALSE considering the terminal polarity parameterised in C00118.
Switching cycle diagnostics of the relay:
• A reference for evaluating the wear limit can be obtained via the number of switching
cycles of the relay displayed in C00177/2.
6 I/O terminals
________________________________________________________________
Parameterisation dialog in the »Engineer«:
Button Function
Indicates the polarity of the input is HIGH active.
The polarity can be changed from HIGH active to LOW active by clicking this button.
Indicates that the polarity of the input is LOW active.

The polarity can be changed from LOW active to HIGH active by clicking this button.
Open the parameterising dialog for assigning application inputs to the digital input.
Changing the terminal assignment with the »Engineer« ( 293)
6 I/O terminals
________________________________________________________________
Short overview of the parameters for the digital terminals:

Value Unit
C00115/1 Fkt. DI 1/2 10kHz 0: DI1=In1 / DI2=In2

Change function assignment ( 264)
Digital inputs DI1 ... DI4
C00114 DigInX: Inversion Bit coded
C02830/1...4 DI1...DI4: Entprellzeit 1: 0.25
C00443/1 DIx: Terminal level -
C00443/2 DIx: Output level -
Digital output DO1
C00118 DigOutX: Inversion Bit coded
C00423/3 DO1 ON delay 0.000 s
C00423/4 DO1 OFF delay 0.000 s
C00444/1 DOx: Input level -
C00444/2 DOx: Terminal level -
Relay output
C00423/1 Relay ON delay 0.000 s
C00423/2 Relay OFF delay 0.000 s
Digital outputs - terminal configuration
C00621/1 LS_DigitalOutput:bRelay 1001: LA_nCtrl_bDriveFail
C00621/2 LS_DigitalOutput:bOut1 1000: LA_nCtrl_bDriveReady
Related topics:
Configuring exception handling of the output terminals ( 288)
User-defined terminal assignment ( 289)
6 I/O terminals
________________________________________________________________
6.1.1 Change function assignment
The internal processing function of the digital input terminals DI1 and DI2 can be reconfigured in
C00115 if necessary. In this way, these input terminals can alternatively be used as frequency or
counting inputs in order to implement the following functions:
• Detection of the input frequency
• Detection and processing of two unipolar input frequencies to one bipolar frequency
• Counting of input pulses
• Evaluation of the speed feedback (HTL encoder) for the motor control (speed-controlled
operation)
C00115/1: Function assignment DI1 and DI2 Function assignment

DI1 DI2
0 DI1=In1 / DI2=In2 Digital input Digital input
1 DI1=FreqIn12 / DI2=In2 Frequency input Digital input
2 DI1&DI2=FreqIn (2-track) Frequency input (2-track)
3 ( DI1/DI2=+- ) = FreqIn12 Frequency input Frequency input
(speed) (direction)
4 DI1=CountIn1 / DI2=In2 Count input Digital input
 Note!
• In the Lenze setting of C00115, the digital input terminals DI1 and DI2 have been
configured as "normal" digital inputs.
• The digital input terminals DI3 ... DI4 are basically designed as "normal" digital inputs.
• Very high pulse frequencies can be measured at the DI1 and DI2 input terminals if the
latter have been configured as frequency or counting inputs in C00115. Scanning is
then carried out within less than μs instead of the otherwise usual scanning rate of
1 kHz (1 ms).
You can find detailed information on the respective function assignment in the following
subchapters:
Using DI1 and DI2 as digital inputs ( 265)
Using DI1 as counting input ( 270)
6 I/O terminals
________________________________________________________________
6.1.1.1 Using DI1 and DI2 as digital inputs
Function assignment 0: DI1=In1 / DI2=In2

With this setting in C00115 , the digital input terminals have been configured as "normal" digital
inputs.
• For each digital input, the debounce time (C02830/1...4) and the terminal polarity (C00114) can
be set individually.
• The current terminal level at the input of the internal processing function is shown in C00443/1
in bit-coded form.
• The output level for the application is shown in C00443/2 in bit-coded form.
&%LW &%LW E,Q

', &[ &

&%LW &%LW E,Q
',
&%LW &%LW E,Q
',
&%LW W &%LW E,Q

',
Internal interfaces to the application

• Relevant outputs at the LS_DigitalInput system block:
Output Value/meaning
bIn1 ... bIn4 Digital input DI1 ... DI4

C00443/2 | BOOL
Related topics:
Internal interfaces | System block "LS_DigitalInput" ( 273)
6 I/O terminals
________________________________________________________________
6.1.1.2 Using DI1 and DI2 as frequency inputs
General information on using the input terminals as frequency inputs

The frequency inputs serve to detect HTL encoders with any number of increments and single-track
and two-track signals. Single-track signals can be evaluated with or without rotation signal.
 Note!
• Make sure that, when motor control with speed feedback is in use, the maximum
input frequency of the respective input terminal is not exceeded.
• DI1/DI2: fmax = 10 kHz
• If the encoder signal is used as an actual speed value:
Number of encoder pulses / revolution ≤ 8192!
Example of DI1/DI2 (in accordance wit the preceding note):

• Encoder increment: 512 pulses / motor revolution
• Reference speed (C00011): 1500 rpm
• Speed setpoint: 100 %
1500 rpm
Input frequency = ------------------------- × 512 pulses = 12800 pulses/s = 12.8 kHz
60 s
• Result: The speed or the number of increments is too high!
 Tip!
From version 06.00.00 onwards, the LS_DigitalInput system block can also provide the
encoder position. Detailed information on this topic is provided in chapter "Output of the
encoder position of the DI1/DI2 frequency input". ( 275)
6 I/O terminals
________________________________________________________________
Function assignment 1: DI1=FreqIn / DI2=In

This setting in C00115 configures the input terminal DI1 as frequency input. The input terminal DI2
remains configured as "normal" digital input..
&%LW 2IIVHW *DLQ

', N+] Q)UHT,QBD
&
& &
&
&
Q)UHT,QBY
&
E3RV,QB/RDG & GQ3RV,QBS
GQ3RV,QB6HWBS E3RV,QB6WDWH
& )XQFWLRQ
& &RPSDUHYDOXH
Function assignment 2: DI1&DI2=FreqIn (2-track)

This setting in C00115 can be used to connect a two-track encoder to the DI1/DI2 terminals.
&%LW 2IIVHW *DLQ

', N+] Q)UHT,QBD
&%LW
', &
N+]
& &
&
&
Q)UHT,QBY
0&75/B6SHHGIHHGEDFN &
& )XQFWLRQ
& &RPSDUHYDOXH
6 I/O terminals
________________________________________________________________
Function assignment 3: DI1=FreqIn / DI2=direction

This setting in C00115 can be used to connect a single-track encoder to terminals DI1/DI2. For this
purpose, the rotation speed is evaluated via terminal DI1 and the direction of rotation of the
encoder (LOW level ≡ CW direction of rotation) is evaluated via the DI2 terminal.
&%LW 2IIVHW *DLQ

', N+]

Q)UHT,QBD
&

& &
&%LW &

',
& 0&75/B6SHHGIHHGEDFN

Q)UHT,QBY
&

& )XQFWLRQ
& &RPSDUHYDOXH
Short overview of the parameters for the frequency inputs:

Value Unit

Frequency input DI1/DI2
C00420/1 Encoder increments at FreqIn12 128 Incr./rev.
C02842/1 FreqIn12: Offset 0.00 %
C02843/1 FreqIn12: Gain 100.00 %
C02844/1 PosIn12: Function Loading with level
C02845 PosIn12: Comparison value 0
C00445/1 FreqIn12_nOut_v - Incr/ms
C00446/1 FreqIn12_nOut_a - %
C00449/1 FreqIn12_dnOut_p - Incr
6 I/O terminals
________________________________________________________________

• Relevant inputs at the LS_DigitalInput system block:
Input Information/possible settings

Data type

bPosIn12_Load Load angle integrator with starting value and reset status signal
BOOL
(from version 06.00.00) TRUE Angle integrator is loaded with the value at dnPosIn12_Set_p and
bPosIn12_State is reset to FALSE.
dnPosIn12_Set_p Starting value for angle integrator
DINT
Data type

nFreqIn12_a Output frequency as scaled analog signal in [%]
C00446/1 | INT
nFreqIn12_v Output frequency as speed signal in [inc/ms]

C00445/1 | INT
Related topics:
Output of the encoder position of the DI1/DI2 frequency input ( 275)
6 I/O terminals
________________________________________________________________
6.1.1.3 Using DI1 as counting input
General information on use as a counting input

The counting input is used for counting fast edges. A 32-bit counter counts from a parameterisable
starting value up to a parameterisable comparison value and then outputs a corresponding status
signal.
• Possible counting range: 0 ... 231 - 1 (0 ... 2147483647)
 Note!
• The starting value must be have been set so that it is smaller than the comparison
value. Otherwise, the counter will be kept at the starting value because the condition
"Count value ≥ Comparison value" has been satisfied.
• Note the maximum input frequency of the input terminal:
• DI1: fmax = 10 kHz
Function assignment 4: DI1=CountIn / DI2=In

This setting in C00115 configures the input terminal DI1 as counting input. The input terminal DI2
remains configured as "normal" digital input..
&%LW
', &2817 & &
N+]
E&RXQW,QB&RPSDUH
E&RXQW,QB5HVHW&RPSDUH Z&RXQW,QB+:
E&RXQW,QB/RDG6WDUW9DOXH & Z&RXQW,QB/:

Short overview of parameters for the counting inputs:

Value Unit
Counting input DI1

C00621/3 LS_DigitalInput: bCountIn1_Reset 0: Not connected
C00621/4 LS_DigitalInput: bCountIn1_LoadStartValue 0: Not connected
C02840/1 CountIn1: Starting value 0 incr
C02840/2 CountIn1: Comparison value 65535 incr
C02841/1 CountIn1: Counter content - incr
6 I/O terminals
________________________________________________________________

• Relevant inputs at the LS_DigitalInput system block:

Counting input DI1

bCountIn1_ResetCompare Reset status signal "Comparison value reached"
BOOL
FALSETRUE The output bCountIn1_Compare is reset to FALSE.
bCountIn1_LoadStartValue Load starting value into counter
BOOL
FALSETRUE The starting value set in C02840/1 is accepted as the current count
value.
Counting input DI1

bCountIn1_Compare Status signal "Comparison value reached"
BOOL
FALSE Current count value < comparison value (C02840/2)
TRUE Current count value ≥ comparison value (C02840/2)
wCountIn1_HW Current count value
wCountIn1_LW • Output as High and Low word (without sign)
C02841/1 | WORD • Possible counting range: 0 ... 231 - 1
6 I/O terminals
________________________________________________________________
Counting behaviour
The following temporal characteristic shows the counting process depending on the signals of the
interfaces described before:
6DPSOLQJF\FOH &RPSDUHYDOXH
&
&RXQWSXOVH

W

&RXQWHUYDOXH
&

E&RXQW,QB&RPSDUH
W
E&RXQW,QB5HVHW&RPSDUH
W
E&RXQW,QB/RDG6WDUW9DOXH
W

6WDUWYDOXH
&

[6-1] Transient characteristic of a quick counter block, sampling cycle = 1 ms
• The counter starts with the parameterised starting value.

• If the comparison value is reached or exceeded:
• The counter jumps back to its starting value.
• The bCount1_Compare output is set to TRUE.
• If there is a FALSE/TRUE edge at the bCountIn1_ResetCompare input, the bCountIn1_Compare
output can be reset to FALSE.
• If there is a FALSE-TRUE edge at the input bCountIn1_LoadStartValue, the current counter
content can be reset to the parameterised starting value.
Related topics:
6 I/O terminals
________________________________________________________________
6.1.2 Internal interfaces | System block "LS_DigitalInput"
The system block LS_DigitalInput maps the digital input terminals in the FB editor.
• The internal processing function of the digital DI1/2 input terminals can be reconfigured inn
C00115 if necessary. These input terminals can then be alternatively used as frequency inputs
or counting inputs.
• The DI3 ... DI4 input terminals are basically designed as "normal" digital inputs.
*,2 '2 ', ', ', ', 5)5 , (
/6B'LJLWDO,QSXW
&%LW E&,QK
&
&%LW &[ &
&%LW E,Q

&%LW
&%LW E,Q
N+]
&%LW E,Q
&%LW &2817 W
N+]
&%LW E,Q
&%LW
&

; N+]
& &
N+] E&RXQW,QB&RPSDUH
E&RXQW,QB5HVHW&RPSDUH Z&RXQW,QB+:
E&RXQW,QB/RDG6WDUW9DOXH & Z&RXQW,QB/:

2IIVHW *DLQ
Q)UHT,QBD
&

& &
&
&

Q)UHT,QBY
&

E3RV,QB/RDG GQ3RV,QBS
GQ3RV,QB6HWBS &
E3RV,QB6WDWH
)XQFWLRQ &
&RPSDUHYDOXH &
6 I/O terminals
________________________________________________________________
Inputs

Counting input DI1 Using DI1 as counting input

bCountIn1_ResetCompare Reset status signal "Comparison value reached"
BOOL
FALSETRUE The output bCountIn1_Compare is reset to FALSE.
bCountIn1_LoadStartValue Load starting value into counter
BOOL
FALSETRUE The starting value set in C02840/1 is accepted as the current count
value.
Frequency input DI1/DI2 Output of the encoder position of the DI1/DI2 frequency input
BOOL
(from version 06.00.00) TRUE Angle integrator is loaded with the value at dnPosIn12_Set_p and
DINT
Outputs
bCInh RFR digital input (controller enable)

C00443/2 | BOOL
Digital inputs DI1 ... DI4 Using DI1 and DI2 as digital inputs
bIn1 ... bIn4 Digital input DI1 ... DI4
C00443/2 | BOOL
Counting input DI1 Using DI1 as counting input

bCountIn1_Compare Status signal "Comparison value reached"
BOOL
FALSE Current count value < comparison value (C02840/2)
TRUE Current count value ≥ comparison value (C02840/2)
wCountIn1_HW Current count value
wCountIn1_LW • Output as High and Low word (without sign)
C02841/1 | WORD • Possible counting range: 0 ... 231 - 1
Frequency input DI1/DI2 Using DI1 and DI2 as frequency inputs
nFreqIn12_a Output frequency as scaled analog signal in [%]
C00446/1 | INT
nFreqIn12_v Output frequency as speed signal in [inc/ms]

C00445/1 | INT
dnPosIn12_p Angle output signal

DINT • 65536 [incr.] ≡ 1 encoder revolution
• Overflow is possible (display via bPosIn12_State)
bPosIn12_State Status signal "Overflow occurred/distance processed"
BOOL • Status signal can be reset via bPosIn12_Load.
TRUE Overflow has occurred or distance is processed.
6 I/O terminals
________________________________________________________________
6.1.2.1 Output of the encoder position of the DI1/DI2 frequency input

The LS_DigitalInput system block has been extended by the integrator function for providing the
encoder position.
• The integrator can take max. ±32000 encoder revolutions.
• The starting position can be loaded via inputs.
• The internal function can be set via parameters.
• In addition to the encoder position, the "Overflow occurred/distance processed" status signal is
provided.
&
&%LW
', N+] & Q)UHT,QBY
&%LW
', N+]
& )XQFWLRQ
& &RPSDUHYDOXH
Inputs

BOOL
TRUE Angle integrator is loaded with the value at dnPosIn12_Set_p and
DINT
Outputs
dnPosIn12_p Angle output signal

DINT • 65536 [incr.] ≡ 1 encoder revolution
• Overflow is possible (display via bPosIn12_State)
bPosIn12_State Status signal "Overflow occurred/distance processed"
BOOL • Status signal can be reset via bPosIn12_Load.
TRUE Overflow has occurred or distance is processed.
6 I/O terminals
________________________________________________________________
Parameter
Parameter Possible settings Info

C02844/1 Function
0 Loading with level Load integrator with TRUE level at
the bPosIn12_Load input (Lenze
setting).
1 Loading with edge Load integrator with FALSE/TRUE
edge at the bPosIn12_Load input.
2 Loading with level + reset Load integrator when reaching the
comparison value or with TRUE level
at the bPosIn12_Load input.
C02845 0 2000000000 Comparison value
• Is valid for both the positive and
the negative value range.
• Lenze setting: 0
Function at constant input value

Selection: C02844/1 = "0: Loading with level" or "1: Loading with edge"
dnPosIn12_p

0
t

bPosIn12_State
TRUE
FALSE
t
 Overflow at ±2147483648 incr. (±32767 encoder revolutions)

 C02845: Comparison value (applies to both positive and negative value range)
[6-2] Switching performance if the overflow is in the positive direction
• If "0: Loading with level" is selected in C02844/1, the bPosIn12_Load input is status-controlled:
In case of a TRUE signal, the integrator is loaded with the value at dnPosIn12_Set_p and the
bPosIn12_State output is set to FALSE.
• If "1: Loading with edge" is selected in C02844/1, the bPosIn12_Load input is edge-controlled: In
case of a FALSE/TRUE edge, the integrator is loaded with the value at dnPosIn12_Set_p and then
immediately continues to integrate, the bPosIn12_State output is set to FALSE.
• A positive nFreqIn12_v signal is incremented (the counter content is increased with every cycle).
• A negative nFreqIn12_v signal is decremented (the counter content is reduced with every cycle).
6 I/O terminals
________________________________________________________________
• dnPosIn12_p provides the counter content of the bipolar integrator.

• If the counter content exceeds a value of +32767 encoder revolutions (corresponds to
+2147483647 incr.), an overflow occurs and the counting process continues at a value of -
32768 encoder revolutions.
• If the counter content falls below a value of -32768 encoder revolutions (corresponds to -
2147483648 incr.), an overflow occurs and the counting process starts at a value of +32767
encoder revolutions.
• bPosIn12_State is set to TRUE if the comparison value set in C02845 has been reached.
Function at input value with sign reversal

Selection: C02844/1 = "2: Loading with level + reset"
dnPosIn12_p

0
0
t
bPosIn12_State
TRUE
FALSE
t
 Sign reversal of the value at nFreqIn12_v

 C02845: Comparison value (applies to both positive and negative value range)
[6-3] Switching performance if the input signal changes signs
• If "2: Loading with level + reset" is selected in C02844/1, the bPosIn12_Load input is status-
controlled: In case of a TRUE signal, the integrator is loaded with the value at dnPosIn12_Set_p
and the bPosIn12_State output is set to FALSE.
• A positive nFreqIn12_v signal is incremented (the counter content is increased with every cycle).
• A negative nFreqIn12_v signal is decremented (the counter content is reduced with every cycle).
• dnPosIn12_p provides the counter content of the bipolar integrator.
• If the positive counter content is higher than the comparison value set in C02845, the
comparison value will be subtracted from the counter content, and bPosIn12_State will be set
to TRUE for one task cycle.
• If the negative counter content is lower than the comparison value set in C02845, the
comparison value will be added to the counter content, and bPosIn12_State will be set to
TRUE for one task cycle.
6 I/O terminals
________________________________________________________________
Calculation of the output signal

The output value at dnPosIn12_p is calculated as per the formula below:
dnPosIn12_p [incr.] = nFreqIn12_v [rpm] ⋅ t [s] ⋅ 65535 [incr./rev.]
t = integration time
16384 ≡ 15000 rpm
1 ≡ 1 incr.
Example
You want to determine the counter content of the integrator at a certain speed at the input and a
certain integration time t.
Given values:
• nFreqIn12_v = 1000 rpm ≈ integer value 1092
• Integration time t = 10 s
• Starting value of the integrator = 0
Solution:
• Conversion of the nFreqIn12_v input signal:
1000 rpm = 1000

rev.
-----------------------
60 s
• Calculation of the output value:
1000 rev. 65535 incr.

dnPosIn12_p = ----------------------- ⋅ 10 s ⋅ ---------------------------- = 10922666 incr.
60 s Rev.
6 I/O terminals
________________________________________________________________
6.1.3 Internal interfaces | System block "LS_DigitalOutput"
The LS_DigitalOutput system block maps the digital output terminals in the FB editor.
/6B'LJLWDO2XWSXW
E5HOD\ &%LW &%LW &%LW
,Q

;
2XW
&20

& &
1&
&
12
6ZLWFKLQJF\FOHV
&%LW ;
E2XW &%LW ,Q

2XW &%LW
*,2 '2

& &

bRelay Relay output (potential-free two-way switch)

C00444/1 | BOOL
bOut1 DO1 digital output

C00444/1 | BOOL
6 I/O terminals
6.2 Analog terminals
________________________________________________________________
The analog input terminals together with the analog output terminals are located on the X3 plug
connector.
Analog input terminals

The drive controller has two analog input terminals for detecting one current signal and one voltage
signal:
• Voltage signal in the ± 10 V range
The voltage signal can be e.g. an analog speed setpoint or the signal of an external sensor
(temperature, pressure, etc.).
• Current signal in the 0/+ 4 ... + 20 mA range
For open-circuit monitoring, the current signal can be evaluated with regard to "Life Zero" or
"Dead Zero":
• 0 ... 20 mA, without open-circuit monitoring
• 4 ... 20 mA, with open-circuit monitoring
 Note!
To avoid undefined states, free input terminals of the controller must be assigned as
well, e.g. by applying 0 V to the terminal.
Analog output terminal

The controller has an analog output terminal for outputting an analog voltage signal (O1U).
 Note!
Initialisation behaviour:
• After mains switching up to the start of the application, the analog output remains
set to 0 V.
Exception handling:
• In case of a critical exception in the application (e.g. reset), the analog output is set to
0 V.
Parameterisation dialog in the »Engineer«:
6 I/O terminals
________________________________________________________________
Button Function
Parameterising analog input ( 282)
Parameterising analog output ( 286)
Open the parameterising dialog for assigning application inputs to the analog input.
Changing the terminal assignment with the »Engineer« ( 293)
Short overview of parameters for the analog terminals:

Value Unit
Analog input 1
C00028/1 AIN1: Input voltage - V
C00029/1 AIN1: Input current - mA
C00033/1 AIN1: Output value (to application) - %
Analog output 1
C00439/1 O1U: Input value (from application) - %
C00436/1 O1U: Voltage - V
Analog output 1 - terminal assignment
C00620/1 LS_AnalogOutput: nOut1_a (V) 1003: LA_nCtrl_nMotorSpeedAct_a
Related topics:
6 I/O terminals
________________________________________________________________
6.2.1 Parameterising analog input
By clicking on the button on the Terminal assignment tab, you reach the parameterising
dialog for the analog input:
Short overview of the parameters for the analog input:

Value Unit
Analog input 1
C00034/1 AIN1: Config. 0: -10V..+10V
C00026/1 AIN1: Offset 0.00 %
C00027/1 AIN1: Gain 1.0000
C00028/1 AIN1: Input voltage - V
C00029/1 AIN1: Input current - mA
C00033/1 AIN1: Output value (to application) - %
C00440/1 PT1 rounding AnalogIn1 10 ms
C00598/1 Resp. to open circuit AIN1 3: TroubleQuickStop
6 I/O terminals
________________________________________________________________
Using current input A1I

In the Lenze setting, voltage signals in the range of ± 10 V are evaluated via the A1U input terminal.
If current signals are detected via the A1I input terminal instead, the selection "1: 0...20mA" or
"2: 4...20mA" is to be set in C00034.
 Tip!
By selecting "2: 4...20mA", you can implement a 4 ...20 mA current loop, e.g. for stipulation
of the speed setpoint.
Open-circuit monitoring
In the case of configuration as a 4 ... 20 mA current loop, the fault response set in C00598 takes place
in the event of a wire breakage (Lenze setting: "TroubleQuickStop").
6 I/O terminals
________________________________________________________________
6.2.1.1 Signal adaptation by means of characteristic

According to the illustration below, an individual characteristic can be parameterised for the analog
input via the subcodes of C00010 to provide different slopes and a dead band. Here, the input signal
corresponds to the X axis and the output signal corresponds to the Y axis:
199.99 %
ymax
ymin
-xmax
-199.99 %
199.99 %

xmax
-ymin
-ymax
-199.99 %
[6-4] Characteristic for analog inputs

Value Unit
C00010/1  AIN1: (+y0) = min 0.00 %

C00010/2  AIN1: (+x0) = Dead band 0.00 %
C00010/3  AIN1: (-y0) = (-min) 0.00 %
C00010/4  AIN1: (-x0) = (-Dead band) 0.00 %
C00010/5  AIN1: (+ymax) 199.99 %
C00010/6  AIN1: (+xmax) 199.99 %
C00010/7  AIN1: (-ymax) 199.99 %
C00010/8  AIN1: (-xmax) 199.99 %
In the »Engineer«, there is a parameterising dialog for entering the characteristic. This dialog also
displays the set characteristic graphically.
6 I/O terminals
________________________________________________________________
 Proceed as follows to open the dialog for parameterising the characteristic:

1. Go to the Terminal assignment tab and select the "Analog terminals" entry in the Control
connections list field.
2. Click on the button for the analog input in order to open the Analog input dialog.
3. Click on the Settings button in order to open the Analog input - Characteristic dialog box:
6 I/O terminals
________________________________________________________________
6.2.2 Parameterising analog output
By clicking on the button on the Terminal assignment tab, you reach the parameterising
dialog for the analog output:
Short overview of parameters for the analog output:

Value Unit
Analog output 1
C00434/1 O1U: Gain 100.00 %
C00435/1 O1U: Offset 0.00 %
C00439/1 O1U: Input value (from application) - %
6 I/O terminals
________________________________________________________________
6.2.3 Internal interfaces | System block "LS_AnalogInput"
The LS_AnalogInput system block displays the analog input in the FB Editor.
/6B$QDORJ,QSXW
; )LOWHUWLPH 2IIVHW *DLQ
28 *$ $, $8 $5 & & & & &[
& $
& Q,QBD
&

'
E&XUUHQW(UURU,Q
& (UURUUHDFWLRQ
Data type
nIn1_a Analog input 1

C00033/1 | INT • Scaling:
±214 ≡ ±10 V for use as voltage input
+214 ≡ +20 mA for use as current input
bCurrentErrorIn1 Status signal "Current input error"
BOOL • Only when analog input 1 is used as current input.
• Application: Cable-breakage monitoring of the 4 ...20 mA circuit.
TRUE |IAIN1| < 4 mA
6.2.4 Internal interfaces | System block "LS_AnalogOutput"
The LS_AnalogInput system block maps the analog output in the FB editor.
28 *$ $, $8 $5

/6B$QDORJ2XWSXW
*DLQ 2IIVHW
& &
Q2XWBD & &
;

Data type
nOut1U_a Analog output 1

INT • Scaling: 214 ≡ 16384 ≡ 10 V
6 I/O terminals
6.3 Configuring exception handling of the output terminals
________________________________________________________________
6.3 Configuring exception handling of the output terminals
Exception handling for the analog and digital output terminals in the event of an error can be set
via decoupling configuration and decoupling values.
• Bit coded selection is carried out in C00441 for the analog output terminal, defining the events
that will trigger decoupling.
• Bit coded selection is carried out in C00447 for the digitale output terminal, defining the events
that will trigger decoupling.
Bit Event
Bit 0  SafeTorqueOff
Bit 1  ReadyToSwitchOn
Bit 2  SwitchedOn
Bit 3  Reserved
Bit 4  Trouble
Bit 5  Fault
Bit 6  Reserved
Bit 7  Reserved
Bit 8  Reserved
Bit 9  Fail CAN_Management
Bit 10  Reserved
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Reserved
Bit 15  Reserved
Finally, the following parameters define the value/status that the output terminals are to have
when they are decoupled:

Value Unit
C00442/1 AOut1_U: Decoupling value 0.00 %

C00448 DigOut decoupling value Bit coded
Related topics:
Configuring exception handling of the CAN PDOs ( 522)
6 I/O terminals
6.4 User-defined terminal assignment
________________________________________________________________
In order to individually adapt the preconfigured assignment of the input/output terminals to your
application, you can choose one of the following procedures:
A. In the »Engineer«:
• Change the terminal assignment on the Terminal assignment tab.
• Change the signal assignment on the Application Parameters tab, on the dialog level
Overview  Signal flow.
• Change the interconnections in the FB editor (on the I/O level).
B. In the »Engineer« or with the keypad:
• Change the parameters for signal configuration in the parameters list.
 Note!
If you change the preconfigured assignment of the input/output terminals, the terminal
assignment will be a user-defined one. In C00007, control mode "0: Interconnection
changed" will be shown.
 Tip!
First of all, select a Lenze configuration useful for the purpose at hand by going to C00005
and selecting a technology application that matches your drive task and then going to
C00007 and selecting an appropriate control mode. You will then have an application for
which there is a signal flow, logical block links and terminal assignment.
We recommend using the »Engineer« for the implementation of comprehensive user-
defined drive solutions.
6 I/O terminals
________________________________________________________________
6.4.1 Source-destination principle
The I/O configuration of the input and output signals is carried out according to the
source/destination principle:
• A connection always has a direction and therefore always has a source and a target.
• The inputs signals of the technology application are logically linked to the outputs of system
blocks which represent the device input terminals.
• The inputs of system blocks that represent the device output terminals are logically linked to
output signals of the technology application.
The following graphic illustrates the source/destination principle:
& &
& &
,QSXWSRUWV 2XWSXWSRUWV
$SSOLNDWLRQ

$SSOLFDWLRQ
$QWULHEVVFKQLWWVWHOOH
2XWSXWV
'LJLWDOLQSXWV 'LJLWDORXWSXWV
,QSXWV
,QSXWV
$QDORJLQSXWV $QDORJRXWSXWV
[6-5] Source-destination principle
Note the following:

• An equipment input terminal can be logically linked to several inputs of the application block.
• Every input of the application block can only be logically linked to one input signal.
• An output of the application block can be logically linked to several device output terminals.
6 I/O terminals
________________________________________________________________
6.4.2 Changing the terminal assignment with the keypad
You can reconfigure the preconfigured terminal assignment with the keypad (and with the
»Engineer«) by means of so-called configuration parameters.
• Each configuration parameter represents a signal input of a system block or application block.
• Each configuration parameter contains a selection list with output signals of the same type of
data.
• Logical linking is thus carried out by selecting the output signal for the corresponding signal
input.
In the following example, digital output 1 (LS_DigitalOutput.bOut1 input) is logically linked to the
status signal "Drive ready" (LA_nCtrl_bDriveReady output signal):
Configuration parameters for the analog and digital output terminals

The preconfigured assignment of the analog and digital output terminals can be altered by means
of the subcodes of C00620 and C00621:

Value Unit
Analog outputs - terminal assignment

C00620/1 LS_AnalogOutput: nOut1_a 1003: LA_nCtrl_nMotorSpeedAct_a
Digital outputs - terminal assignment
C00621/1 LS_DigitalOutput:bRelay 1001: LA_nCtrl_bDriveFail
C00621/2 LS_DigitalOutput:bOut1 1000: LA_nCtrl_bDriveReady
Other subcodes (not shown here) allow the configuration of input signals of different system blocks
and port blocks.
6 I/O terminals
________________________________________________________________
Configuration parameters for the inputs of the technology application

The following parameters can be used to change the preconfigured assignment of the application
inputs:
Parameter Info
TA "Actuating drive speed": Configuration parameters ( 322)
C00700/1...20 Analog connection list
C00701/1...48 Digital connection list
TA "Switch-off positioning": Configuration parameters ( 382)
C00760/1...16 Analog connection list
C00761/1...47 Digital connection list
Example
Task: Starting from the preset technology application "Actuating drive speed" and the "Terminals 0"
control mode, the DI2 digital input is to be used for choosing an alternative
acceleration/deceleration time for the main setpoint instead of for choosing the fixed setpoint 2/3.
To do this, the DI2 digital input is not to be linked to the bJogSpeed2 input but to the bJogRamp1
input of the application module.
Procedure:
1. Use the keypad to go to the menu level Applications  Actuating drive speed (conf.). This menu
level contains all the configuration parameters of the "Actuating drive speed" technology
application". Configuration parameters ( 322)
2. Navigate to the configuration parameter LA_NCtrl: bJogSpeed2 (C00701/10) which represents
the logical signal link of the application input bJogSpeed2.
3. Change the setting of C00701/10:
Change selection "16001: DigIn_bIn2" in selection "0: Not interconnected".
4. Navigate to the configuration parameter LA_NCtrl: bJogRamp1 (C00701/13) which represents
the logical signal link of the application input bJogRamp1.
5. Change the setting of C00701/13:
Change selection "0: Not interconnected" in selection "16001: DigIn_bIn2".
 Tip!
The example shows that, for each input of the application block, the associated
configuration parameter (C00700/x or C00701/x) is only allowed to contain one source
that you enter.
6 I/O terminals
________________________________________________________________
6.4.3 Changing the terminal assignment with the »Engineer«
Whereas the configuration parameters referred to have to be parameterised with the keypad,
implementation in the »Engineer« is much easier due to the availability of the corresponding
dialogs. The following task illustrates the respective procedure.
Task: Starting from the preset technology application "Actuating drive speed" and the "Terminals 0"
control mode, the DI2 digital input is to be used for choosing an alternative
acceleration/deceleration time for the main setpoint instead of for choosing the fixed setpoint 2/3.
To do this, the DI2 digital input is not to be linked to the bJogSpeed2 input but to the bJogRamp1
input of the application module.
Possibility 1: Change terminal assignment by means of the Terminal Assignment tab

Procedure:
1. Go to the Terminal Assignment tab and select "Digital terminals" in the Control connections list
field:
2. Click on the button for the DI2 terminal in order to open the dialog box Assignment
Terminal --> Function block.
• In the list field, all block inputs that are currently logically linked to digital input DI2 are
marked with a checkmark:
3. Remove checkmark for the connection LA_NCtrl: bJogSpeed2 in order to cancel the existing
logical link.
4. Set checkmark for connection LA_NCtrl: bJogRamp1 in order to logically link this application
input to digital input DI2.
6 I/O terminals
________________________________________________________________
Possibility 2: Change terminal assignment by means of the signal flow shown

Procedure:
1. Go to the Application parameters tab.
2. Go to the Application Parameters tab and click on the Signal flow button in order to change to
the dialog level Overview  Signal flow.
3. On the dialog level Overview  Signal flow, click on the Digital control signals button in order to
open the Digital control signals dialog box:
4. In the bJogSpeed2 list field, set the selection "0: Not interconnected".
5. In the bJogRamp1 list field, set the selection "16001: DigIn_bIn2".
6. Click on the Back button in order to close the dialog box again.
6 I/O terminals
________________________________________________________________
Possibility 3: Change terminal assignment with the FB editor

Procedure:
1. Go to the FB Editor tab.
2. Delete the existing interconnection from LS_DigitalInput.bIn2 to LA_NCtrl.bJogSpeed2:
3. Establish a new interconnection from LS_DigitalInput.bIn2 to LA_NCtrl.bJogRamp1:
 Tip!
You can find detailed information on how to use the FB editor of the »Engineer« in the main
chapter entitled "Working with the FB Editor". ( 857)
7 Technology applications
________________________________________________________________
This chapter describes the handling and the functional range of the technology applications
available for the 8400 StateLine controller.
Technology application "Actuating drive speed"

This technology application preset in C00005 serves to solve speed-controlled drive
tasks, e.g. conveyor drives (interconnected), extruders, test benches, vibrators,
travelling drives, presses, machine tools, dosing systems.
TA "Actuating drive speed" ( 298)
technology application "Actuating drive speed (AC Drive Profile)"

This technology application available from version 13.00.00 provides a speed and
torque control by means of "AC Drive Profile". The fieldbuses EtherNet/IP™ and
system bus (CANopen) are supported.
TA "actuating drive speed (AC Drive Profile)" ( 325)
"Switch-off positioning" technology application

This technology application available from version 04.00.00 is used to solve speed-
controlled drive tasks which require a pre-switch off or stopping at certain positions,
e.g. roller conveyors and conveying belts. The pre-switch off is implemented by
connecting switch-off sensors.
TA "Switch-off positioning" ( 358)
 Note!
Please note that the "StateLine", "HighLine" and "TopLine" device types differ with regard
to the number, functional range, and flexibility of the technology applications offered.
Related topics:
Integrated technology applications ( 22)
Commissioning of the "Switch-off positioning" technology application ( 59)
7.1 Selection of the technology application and the control mode
________________________________________________________________
7.1 Selection of the technology application and the control mode
The technology application to be used is selected in C00005.

• You can select the technology application in the »Engineer« on the Application parameter tab
via the Application list field:
Different control modes can be selected for every application in C00007. By selecting the control
mode you set the way by which the technology application should be controlled, e.g. via terminals
or via a fieldbus. The interconnection of the input/output terminals and ports shown in the FB editor
in the I/O level changes accordingly.
• You can select the control mode in the »Engineer« on the Application parameter tab via the
Control mode list field:
 Tip!
You can infer the pre-configured assignment of the input/output terminals and ports for
each control mode from the description of the corresponding technology application:
TA "Actuating drive speed": Terminal assignment of the control modes ( 309)
TA "Switch-off positioning": Terminal assignment of the control modes ( 369)
Detailed information on the individual configuration of the input/output terminals can be
found in the description of the I/O terminals in the subchapter "User-defined terminal
assignment". ( 289)
7.2 TA "Actuating drive speed"
________________________________________________________________
Features
• Pre-configured control modes for terminals and bus control (with predefined process data
connection to the fieldbus)
• Free configuration of input and output signals
• Offset, gain, and negation of main setpoint, additional setpoint, actual process controller value
• Up to 15 fixed setpoints for speed and ramp time
• Adjustable setpoint ramp times
• Freely selectable, variable ramp shape
• Automatic holding brake control
• Quick stop (QSP) with adjustable ramp time
• Motor potentiometer function
• Process controller
• Load monitoring (in preparation)
• Integrated, freely available "GeneralPurpose" functions:
Analog switch, arithmetic, multiplication/division, binary delay element, binary logic, analog
comparison, D-flipflop
• Interface to the safety module (optional)
• Integration of encoder feedback
Related topics:
________________________________________________________________
7.2.1 Basic signal flow
[7-1] Signal flow of the technology application "Actuating drive speed"
 Main speed setpoint offset and gain (L_OffsetGainP_1)

 Motor potentiometer function (L_MPot_1)
 Setpoint generator (L_NSet_1)
 Speed setpoint input limitation
 Additional speed setpoint offset and gain (L_OffsetGainP_2)
 Actual speed/sensor value offset and gain (L_OffsetGainP_3)
 Process controller (L_PCTRL_1)
 Holding brake control
 Terminal assignment & display of digital control signals
 Integrated disposable "GeneralPurpose" functions: Analog switch, arithmetic, multiplication/division, binary
delay element, binary logic, analog comparison, D-flipflop
________________________________________________________________
Selection of the main speed setpoint

The main speed setpoint is selected in the Lenze setting via the analog input 1.
• Offset and gain of this input signal can be set in C00696 and C00670 for a simple signal
adjustment of a setpoint encoder.
• The main setpoint is transformed to a speed setpoint in the setpoint encoder via a ramp
function generator with linear or S-shaped ramps.
• Upstream to the ramp function generator, a blocking speed masking function and a setpoint
MinMax limitation are effective.
• For a detailed functional description see the L_NSet FB.
Motor potentiometer function

Alternatively, the main speed setpoint can be generated via a motor potentiometer function.
• In the Lenze setting, the motor potentiometer function is deactivated.
• Activation is possible via C00806 or via the bMPotEnable input.
• The behaviour of the motor potentiometer during switch-on of the drive system can be selected
in C00805.
• For a detailed functional description see the L_MPot FB.
Optional selection of an additional speed setpoint

You can optionally select an additional speed setpoint (e.g. as a correcting signal).
• The additional speed setpoint can be linked arithmetically with the main speed setpoint behind
the ramp function generator.
• You must set the setpoint arithmetic to "1: NOut = NSet + NAdd" in C00190 in order to activate
the additional speed setpoint.
• Offset and gain of this input signal can be set in C00697 and C00671 for a simple signal
adjustment of a setpoint encoder.
• The acceleration and deceleration time for the additional speed setpoint can be set in C00220
and C00221.
 Tip!
In the case of a grinding machine, the additional speed setpoint can, for instance, be used
to control a constant circumferential speed while the grinding disk diameter is reduced.
________________________________________________________________
7.2.2 Internal interfaces | application block "LA_NCtrl"
 Note!
The connectors grayed out in the following table are hidden in the function block editor
in the Lenze setting.
• These connections can be shown via the Connector visibilities command in the
Context menu of the application block.
Inputs

Data type
wCANDriveControl Control word via system bus (CAN) for device control
WORD • See the device control chapter, subchapter "wCANControl/wMCIControl control
words" for a detailed description of the individual control bits.
wMCIDriveControl Control word via communication module (e.g. PROFIBUS) for device control
WORD • See the device control chapter, subchapter "wCANControl/wMCIControl control
words" for a detailed description of the individual control bits.
wSMControl Interface to the optional safety system.
WORD • Setting control bit 0 ("SafeStop1") in this control word causes e.g. the automatic
deceleration of the drive to standstill within this application (in the Motion
Control Kernel).
• For a detailed description of each control bit see the subchapter "Interface to
safety system" in the basic drive functions chapter.
bCInh Enable/Inhibit controller
BOOL
device state, if no other source of a controller inhibit is active.
"SwitchedOn" device state.
bFailReset Reset error message
BOOL In the Lenze setting this input is connected to the digital input controller enable so
that a possibly existing error message is reset together with the controller enable (if
the cause for the fault is eliminated).
TRUE The current fault is reset, if the cause for the fault is eliminated.
• If the fault still exists, the error status remains unchanged.
bSetQuickstop Enable quick stop (QSP)
BOOL • Also see device command "Activate/deactivate quick stop".
• Motor control is decoupled from the setpoint selection and,
within the deceleration time parameterised in C00105, the motor
is brought to a standstill (nact = 0).
• A pulse inhibit is set if the auto-DCB function has been activated
via C00019.
• The quick stop is deactivated if no other source for the quick stop
is active.
• C00159 displays a bit code of active sources/causes for the quick
stop.
________________________________________________________________

Data type
bSetDCBrake Manual DC-injection braking (DCB)

BOOL • Detailed information on DC-injection braking is provided in the motor control
chapter, subchapter "DC-injection braking".
 Note!
Use the basic "Holding brake control" function for controlling the holding brake with
a low rate of wear.
FALSE Deactivate DC-injection braking.
TRUE Activate DC-injection braking, i.e. the drive is brought to a standstill
by means of DC-injection braking.
• The braking effect stops when the rotor is at standstill.
• After the hold time (C00107) has expired, the controller sets the
pulse inhibit.
bRFG_Stop Ramp function generator: Maintain the current value of the main setpoint
BOOL integrator
• The speed, for instance, of a running ramp process is immediately kept constant
when bRFG_Stop is activated. At the same time, the acceleration/deceleration
jumps to the value "0".
TRUE The current value of the main setpoint integrator is held.
bRFG_0 Ramp function generator: Lead the main setpoint integrator to "0" within the
BOOL current Ti times
TRUE The current value of the main setpoint integrator is led to "0" within
the Ti time set.
INT • An additional setpoint for the motor voltage can be specified via this process
input.
• Scaling: 16384 ≡ 1000 V
 Stop!
current!
nBoost_a Additional setpoint for the motor voltage at speed = 0
INT • The entire voltage-frequency characteristic is provided with an offset.
• Scaling: 16384 ≡ 1000 V
 Stop!
current!
nPWMAngleOffset Additional offset for the electrical angle of rotation
INT • If a torque is connected, e.g. dynamic acceleration processes can be generated.
• Scaling: ±32767 ≡ ±180 ° angle of rotation
________________________________________________________________

Data type
nTorqueMotLim_a Torque limitation in motor mode and in generator mode

nTorqueGenLim_a • These input signals are directly transferred to the motor control to limit the
INT controller's maximum torque in motor and generator mode.
• The drive cannot output a higher torque in motor/generator mode than set here.
• The applied values (any polarity) are internally interpreted as absolute values.
• Scaling: 16384 ≡ 100 % Mmax (C00057)
TorqueGenLim M
TorqueMotLim
MN
-nN nN n
-MN
TorqueMotLim
TorqueGenLim
bSetSpeedCcw Change of direction of rotation

BOOL • For instance if a motor or gearbox is fixed laterally reversed to a machine part, but
the setpoint selection should still be executed for the positive direction of
rotation.
FALSE Clockwise rotation (Cw)
TRUE Direction of rotation to the left (Ccw)
bRLQCw Activate clockwise rotation (fail-safe)
BOOL • For a detailed functional description see the L_RLQ FB.
FALSE Quick stop
TRUE CW rotation
bRLQCcw Activate counter-clockwise rotation (fail-safe)
FALSE Quick stop
TRUE Counter-clockwise rotation
nMainSetValue_a Main speed setpoint
INT • Offset and gain of this input signal can be set in C00696 and C00670 for a simple
signal adjustment of a setpoint encoder.
• The main setpoint is transformed to a speed setpoint in the setpoint encoder via
a ramp function generator with linear or S-shaped ramps.
• Upstream to the ramp function generator, a blocking speed masking function
and a setpoint MinMax limitation are effective.
________________________________________________________________

Data type
nAuxSetValue_a Additional speed setpoint

INT • The additional speed setpoint can be linked arithmetically with the main speed
setpoint behind the ramp function generator.
• You must set the setpoint arithmetic to "1: NOut = NSet + NAdd" in C00190 in
order to activate the additional speed setpoint.
• Offset and gain of this input signal can be set in C00697 and C00671 for a simple
• The acceleration and deceleration time for the additional speed setpoint can be
set in C00220 and C00221.
bJogSpeed1 Selection inputs for fixed changeover setpoints (JOG setpoints) for the main setpoint
bJogSpeed2 • A fixed setpoint for the setpoint generator can be activated instead of the main
BOOL setpoint via these selection inputs.
bJogSpeed4 • The four selection inputs are binary coded, therefore 15 fixed setpoints can be
bJogSpeed8 selected.
BOOL • In the case of binary coded selection "0" (all inputs = FALSE or not assigned), main
setpoint nMainSetValue_a is active.
• The selection of the fixed setpoints is carried out in C00039/1...15 in [%] based
on the reference speed (C00011).
bJogRamp1 Selection inputs for alternative acceleration/deceleration times for the main
bJogRamp2 setpoint
BOOL • The four selection inputs are binary coded, therefore 15 alternative
bJogRamp4 acceleration/deceleration times can be selected.
bJogRamp8 • For main setpoint nMainSetValue_a, the set acceleration time (C00012) and
BOOL
deceleration time (C00013) are active in the case of the binary coded selection "0"
(all inputs = FALSE or not assigned).
• Alternative acceleration times are selected in C00101/1...15.
• The selection of the alternative deceleration times is carried out in C00103/1...15.
Motor potentiometer
Alternatively to the input signal nMainSetValue_a, the main setpoint can also be generated by a motor
potentiometer function.
• The behaviour of the motor potentiometer during switch-on of the drive system can be selected in C00805.
bMPotEnable Activating the motor potentiometer function
BOOL • This input and C00806 are OR'd.
TRUE The motor potentiometer function is active; the speed setpoint can
be changed via the bMPotUp and bMPotDown control inputs.
bMPotUp Increasing the speed setpoint
BOOL
TRUE Approach the upper speed limit value set in C00800 with the
acceleration time set in C00802.
bMPotInAct Activating the inactive function
BOOL
TRUE The speed setpoint behaves according to the inactive function set in
C00804.
• In the Lenze setting, the speed setpoint is maintained.
bMPotDown Decreasing the speed setpoint
BOOL
TRUE Approach the lower speed limit value set In C00801 with the
deceleration time set in C00803.
________________________________________________________________

Data type
Process controller
• In the Lenze setting, the process controller is deactivated.
• The activation is executed by selecting the operating mode in C00242.
• For a detailed functional description see FB L_PCTRL.
bPIDEnableInfluenceRamp Activate ramp for influencing factor
BOOL
FALSE Influencing factor of the PID controller is ramped down to "0".
TRUE Influencing factor of the PID controller is ramped up to the value
nPIDInfluence_a.
bPIDIOff Switch off the I-component of the process controller
BOOL • In conjunction with the operating mode set in C00242
(Lenze setting: "Off").
TRUE I-component of the process controller is switched off.
nPIDVpAdapt_a Adaptation of gain Vp set in C00222 in percent
INT • Scaling: 16384 ≡ 100 %
• Internal limitation to ± 199.99 %
• Changes can be done online.
nPIDSetValue_a Sensor and process setpoint for operating modes 2, 4 and 5
INT • Scaling: 16384 ≡ 100 %
nPIDActValue_a Speed or actual sensor value (actual process value)
INT • Offset and gain for this input signal can be set in C00698 and C00672.
• Scaling: 16384 ≡ 100 %
nPIDInfluence_a Limitation of the influencing factor in percent
INT • The influence factor of the PID controller can be limited to a certain value (-
199.99% ... + 199.99%) via nPIDInfluence_a.
• Scaling: 16384 ≡ 100 %
MCK basic functions
bMBrakeRelease Holding brake control: Release/apply brake
BOOL • In conjunction with the operating mode selected in C02580
(Lenze setting: "Brake control off").
FALSE Apply brake.
• During automatic operation, the internal brake logic controls the
brake.
TRUE Release brake manually (forced release).
• Note!
The brake can also be released if the controller is inhibited!
• During automatic operation, the internal brake logic is
deactivated and the brake is released (supervisor operation). If a
controller inhibit has been set by the brake control, it will be
deactivated.
• In semi-automatic operation, the brake is released including
________________________________________________________________

Data type
GP: GeneralPurpose
The following inputs are interconnected with logic/arithmetic functions on application level for free usage.
"GeneralPurpose" functions
bGPFree1 ... bGPFree2 Free inputs for digital signals
BOOL • Digital signals can be transferred from the I/O level to the application level via
these inputs.
nGPAnalogSwitchIn1_a Analog switch: Input signals
nGPAnalogSwitchIn2_a • The input signal selected via the selection input bGPAnalogSwitchSet is output at
INT output nGPAnalogSwitchOut_a.
bGPAnalogSwitchSet Analog switch: Selection input
BOOL
FALSE nGPAnalogSwitchOut_a = nGPAnalogSwitchIn1_a
TRUE nGPAnalogSwitchOut_a = nGPAnalogSwitchIn2_a
nGPArithmetikIn1_a Arithmetic: Input signals
nGPArithmetikIn2_a • The arithmetic function is selected in C00338.
INT • The result is output at output nGPArithmetikOut_a.
nGPMulDivIn_a Multiplication/Division: Input signal
INT • The factor for the multiplication can be set in C00699/1 (numerator) and
C00699/2 (denominator).
• The result is output at output nGPMulDivOut_a.
bGPDigitalDelayIn Binary delay element: Input signal
BOOL • The on-delay can be set in C00720/1.
• The off-delay can be set in C00720/2.
• The time-delayed input signal is output at output bGPDigitalDelayOut.
bGPLogicIn1 Binary logic: Input signals
bGPLogicIn2 • The logic operation is selected in C00820.
bGPLogicIn3 • The result is output at output bGPLogicOut.
BOOL
nGPCompareIn1_a Analog comparison: Input signals

nGPCompareIn2_a • The comparison operation is selected in C00680.
INT • Hysteresis and window size can be set in C00680 and C00682.
• If the comparison statement is true, the output bGPCompareOut will be set to
TRUE.
bGPDFlipFlop_InD D-FlipFlop: Input signals
bGPDFlipFlop_InClk • Data, clock and reset input
bGPDFlipFlop_InClr
BOOL
Free inputs
The following inputs can freely be interconnected on the application level.
The signals can be transferred from the I/O level to the application level via these inputs.
bFreeIn1 ... bFreeIn8 Free inputs for digital signals
BOOL
wFreeIn1 ... wFreeIn4 Free inputs for 16-bit signals

WORD
________________________________________________________________
Outputs
Data type
wDriveControlStatus Status word of the controller

WORD • The status word contains information on the currents status of the drive
controller.
• For bit assignment, see subchapter "wDeviceStatusWord status word" in the
chapter for device control.
wStateDetermFailNoLow Display of the status determining error (LOW word)
WORD
wStateDetermFailNoHigh Display of the status determining error (HIGH word)

WORD
bDriveFail TRUE Drive controller in error status.

BOOL • "Fault" device status is active.
bDriveReady TRUE Controller is ready for operation.
BOOL • "SwitchedOn" device status is active.
• The drive is in this device status if the DC bus voltage is applied
and the controller is still inhibited by the user (controller inhibit).
bCInhActive TRUE Controller inhibit is active.
BOOL
bQSPIsActive TRUE Quick stop is active.

BOOL
bSpeedCcw Current direction of rotation

BOOL
bSpeedActCompare Result of the speed comparison (detection of speed=0)
BOOL
TRUE During open-loop operation:
Speed setpoint < Comparison value (C00024)
bOverLoadActive In preparation (output is not interconnected on the application level)
BOOL
bUnderLoadActive In preparation (output is not interconnected on the application level)

BOOL
bImaxActive "Current setpoint inside the limitation" status signal

BOOL
TRUE The current setpoint is internally limited (the drive controller
operates at the maximum current limit).
bSpeedSetReached Status signal "setpoint = 0"
BOOL
TRUE Speed setpoint from the ramp function generator = 0
bSpeedActEqSet TRUE Actual speed value = speed setpoint
BOOL
nMotorCurrent_a Current stator current/effective motor current

nMotorSpeedSet_a Speed setpoint
INT • In the "VFC (+encoder)" operating mode of the motor control, this value is
determined from the current motor current and corresponds to the actual torque
only by approximation.
• Scaling: 16384 ≡ 100 % Mmax (C00057)
________________________________________________________________
Data type

INT • Scaling: 16384 ≡ 1000 V
INT • Scaling: 16384 ≡ 1000 V
MCK basic functions
bMBrakeReleaseOut Holding brake control: Trigger signal for the holding brake control switching
BOOL element via a digital output
• Use bit 0 in C02582 to activate inverted switching element triggering.
FALSE Apply brake.
TRUE Release brake.
bMBrakeReleased Holding brake control: "Brake released" considering the brake release time
BOOL • When the holding brake is triggered to close, bMBrakeReleased is immediately set
to FALSE even if the brake closing time has not yet elapsed!
TRUE Brake released (after the brake release time has expired).
GP: GeneralPurpose
The following outputs are interconnected with logic/arithmetic functions on application level for free usage.
nGPAnalogSwitchInOut_a Analog switch: Output signal
INT
nGPArithmetikOut_a Arithmetic: Output signal

INT
nGPMulDivOut_a Multiplication/Division: Output signal

INT
bGPDigitalDelayOut Binary delay element: Output signal

BOOL
bGPLogicOut Binary logic: Output signal

BOOL
bGPCompareOut Analog comparison: Output signal

BOOL
bGPSignalOut1 Binary signal monitor: Output signals

... • The signal sources to be output are selected in C00411/1...4.
bGPSignalOut4 • A bit coded inversion of the output signals can be parameterised in C00412.
BOOL
nGPSignalOut1_a Analog signal monitor: Output signals

nGPSignalOut4_a • Gain and offset for each output signal can be parameterised in C00413/1...8.
BOOL
bGPDFlipFlop_Out D-FlipFlop: Output signal

BOOL
bGPDFlipFlop_NegOut D-FlipFlop: Negated output signal

BOOL
Free outputs
The following outputs can freely be interconnected on the application level.
The signals from the application level can be transferred to the I/O level via these outputs.
bFreeOut1 ... bFreeOut8 Free outputs for digital signals
BOOL
wFreeOut1 ... wFreeOut4 Free outputs for 16-bit signals

WORD
7.2.3 Terminal assignment of the control modes
________________________________________________________________
7.2
7
The following comparison provides information about which inputs/outputs of the application block LA_NCtrl are interconnected to the digital
and analog input/output terminals of the drive controller in the different control modes.
TA "Actuating drive speed"

Technology applications
Control mode (C00007)
10: Terminals 0 12: Terminals 2 14: Terminals 11 16: Terminal 16 20: Keypad 21: PC 30: CAN 40: MCI
X4/RFR Controller enable / Reset of error message
bFailReset
X4/DI1 Fixed setpoint 1/3 Change of direction of Fixed setpoint 1/3 - - Quick stop
bJogSpeed1 rotation bJogSpeed1 bSetQuickstop
bSetSpeedCcw
X4/DI2 Fixed setpoint 2/3 Activate manual DC- Fixed setpoint 2/3 - - - -
bJogSpeed2 injection braking (DCB) bJogSpeed2
bSetDCBrake
X4/DI3 Activate manual DC- Quick stop Motor potentiometer: CW rotation quick stop - - - -
injection braking (DCB) bSetQuickstop Increase speed bRLQCw
bSetDCBrake bMPotUp
X4/DI4 Change of direction of rotation Motor potentiometer: CCW rotation quick stop - - - -
bSetSpeedCcw Decrease speed bRLQCcw
bMPotDown
X3/A1U, A1I Main speed setpoint - - Additional speed setpoint
nMainSetValue_a nAuxSetValue_a
10 V ≡ 100 % reference speed (C00011) 10 V ≡ 100 % reference speed (C00011)
X4/DO1 Status "Drive is ready"
bDriveReady
X101/COM, NO Status "Error is pending"
bDriveFail
X3/O1U Actual speed value
nMotorSpeedAct_a
10 V ≡ 100 % reference speed (C00011)
309
________________________________________________________________
7.2.3.1 Terminals 0
X101
COM
NC
DriveFail NO
X3
Speed setpoint AR
A1U
A1I
GA
O1U Actual speed value
External
supply X4
+ 24E
24 V DC =
24I
Fixed setpoint 1/3 DI1
DC brake DI3
Change of direction of rotation DI4
DO1 DriveReady
GIO
CG
CH
CL
X1
Connection Assignment Connection Assignment

X101/NC-NO LA_NCtrl.bDriveFail
X4/RFR LA_NCtrl.bFailReset X3/A1U LA_NCtrl.nMainSetValue_a *

X4/DI1 LA_NCtrl.bJogSpeed1 X3/A1I -
X4/DI2 LA_NCtrl.bJogSpeed2 X3/O1U LA_NCtrl.nMotorSpeedAct_a *
X4/DI3 LA_NCtrl.bSetDCBrake * 10 V ≡ 100 % reference speed (C00011)
X4/DI4 LA_NCtrl.bSetSpeedCcw X4/DO1 LA_NCtrl.bDriveReady
________________________________________________________________
7.2.3.2 Terminals 2
X101
COM
NC
DriveFail NO
X3
Speed setpoint AR
A1U
A1I
GA
External
supply X4
+ 24E
24 V DC =
24I
Quickstop DI3
DO1 DriveReady
GIO
CG
CH
CL
X1


X4/DI3 LA_NCtrl.bSetQuickstop * 10 V ≡ 100 % reference speed (C00011)
________________________________________________________________
7.2.3.3 Terminals 11
X101
COM
NC
DriveFail NO
X3
Speed setpoint AR
A1U
A1I
GA
External
supply X4
+ 24E
24 V DC =
24I
DC brake active DI2
Motor potentiometer Speed higher DI3
Speed lower DI4
DO1 DriveReady
GIO
CG
CH
CL
X1


X4/DI1 LA_NCtrl.bSetSpeedCcw X3/A1I -
X4/DI2 LA_NCtrl.bSetDCBrake X3/O1U LA_NCtrl.nMotorSpeedAct_a *
X4/DI3 LA_NCtrl.bMPotUp * 10 V ≡ 100 % reference speed (C00011)
X4/DI4 LA_NCtrl.bMPotDown X4/DO1 LA_NCtrl.bDriveReady
________________________________________________________________
7.2.3.4 Terminal 16
X101
COM
NC
DriveFail NO
X3
Speed setpoint AR
A1U
A1I
GA
External
supply X4
+ 24E
24 V DC =
24I
Cw rotation quick stop DI3
Ccw rotation quick stop DI4
DO1 DriveReady
GIO
CG
CH
CL
X1


X4/DI3 LA_NCtrl. bRLQCw * 10 V ≡ 100 % reference speed (C00011)
X4/DI4 LA_NCtrl. bRLQCcw X4/DO1 LA_NCtrl.bDriveReady
________________________________________________________________
7.2.3.5 Keypad
Engineer: Keypad:
X101 All parameters
COM
NC Par1 8400 StateLineC
DriveFail NO
User - Menu
Quick commissioning
X3
Terminal Go to param
AR
Logbook
A1U Quick commissioning
Keypad
A1I Quick commissioning
GA SAVE
Par1 Quick commissioning

External
supply X4 Terminals
+ 24E
24 V DC = Keypad
24I
Controller enable / RFR
SAVE
reset error DI1
DI2
DI3
DI4 C2/1
DO1 DriveReady C7
GIO C728
C11
C12
C13
CG
CH
CL
C15
X1 C16
C22
C87
C89
C39/1
C727/3
C727/4
C51
C54

X4/RFR LA_NCtrl.bFailReset X3/A1U -

X4/DI1 - X3/A1I -
X4/DI2 - X3/O1U LA_NCtrl.nMotorSpeedAct_a *
X4/DI3 - * 10 V ≡ 100 % reference speed (C00011)
X4/DI4 - X4/DO1 LA_NCtrl.bDriveReady
________________________________________________________________
7.2.3.6 PC
X101
COM
NC
DriveFail NO
X3
AR
A1U
A1I
GA
External
supply X4
+ 24E
24 V DC =
24I
DI1
DI2
DI3
DI4
DO1 DriveReady
GIO
CG
CH
CL
X1


X4/DI1 - X3/A1I -
________________________________________________________________
7.2.3.7 CAN
X101
COM
NC
DriveFail NO
X3
Additional speed setpoint AR
A1U
A1I
GA
External
supply X4
+ 24E
24 V DC =
24I
Quickstop DI1
DI2
DI3
DI4
DO1 DriveReady
GIO
LP_CanIn1 LP_CanOut1
wCtrl DriveControl wState DriveControlStatus
CG
CH
CL
wIn2 MainSetValue wOut2 MotorSpeedAct

wIn3 -
X1 wOut3 MotorSpeedSet
wOut4 -

X4/RFR LA_NCtrl.bFailReset X3/A1U LA_NCtrl.nAuxSetValue_a *

X4/DI1 LA_NCtrl.bSetQuickStop X3/A1I -
 Note!
• You must set the setpoint arithmetic in C00190 to "1: NOut = NSet + NAdd" so that
the additional speed setpoint selected via the analog input A1U has an additive effect.
• The "manual jog" function via digital terminals is being prepared!
________________________________________________________________
7.2.3.8 MCI
X101
COM
NC
DriveFail NO
X3
A1U
A1I
GA
External
supply X4
+ 24E
24 V DC =
24I
Quickstop DI1
DI2
DI3
DI4
DO1 DriveReady
GIO
CG
CH
CL
X1
LP_MciIn LP_MciOut
wIn3...16 - wOut3 MotorSpeedSet
wOut4...16 -


X4/DI1 LA_NCtrl.bSetQuickStop X3/A1I -
 Note!
• You must set the setpoint arithmetic in C00190 to "1: NOut = NSet + NAdd" so that
the additional speed setpoint selected via the analog input A1U has an additive effect.
• The "manual jog" function via digital terminals is being prepared!
________________________________________________________________
7.2.4 Process data assignment for fieldbus communication
The fieldbus communication is connected (preconfigured) to the previously selected technology

application by selecting the corresponding control mode in C00007:
• "30: CAN" for the connection to the system bus (CAN)
• "40: MCI" for the connection to a plugged-on communication module (e.g. PROFIBUS)
The assignment of the process data words depends only on the application, not on the bus system
used:
Input words Name Assignment

Word 1 DriveControl Control word
• For bit assignment see the table below.
Word 2 MainSetValue Speed setpoint
Word 3 - Not preconfigured
Words 5 ... 16 - Not preconfigured
• Only available in control mode "40: MCI".
Control word Name Function

• This bit must be set in the CAN/MCI control word to ensure
that the device changes to the SwitchedOn" device status
after mains connection without the need for a master control
specifying this bit via fieldbus.
• If control via a bus system is not wanted (e.g. in the case of
control via terminals), the wDriveCtrl output signal of the
LS_ParFix system block can be connected to the control word
inputs.
Bit 2 SetQuickStop 1 ≡ Activate quick stop (QSP).
• If control via terminals is performed, this bit must be set both
in the CAN control word and in the MCI control word.
Otherwise, the controller is inhibited.
Enable/Inhibit controller ( 80)
• Acknowledge error message (if the error cause has been
eliminated).
Reset error ( 82)
Bit 8 SetHalt 1 ≡ Activate stop function
• Stop drive via stopping ramp (in preparation).
Bit 10 reserved_2
Bit 11 SetDCBrake 1 ≡ Activate DC-injection braking
Manual DC-injection braking (DCB) ( 212)
Bit 12 JogSpeed1 Activation of fixed speed 1 ... 3
Bit 13 JogSpeed2
________________________________________________________________

Bit 15 SetSpeedCcw 0 ≡ Direction of rotation to the right (Cw)
1 ≡ Direction of rotation to the left (Ccw)
Output words Name Assignment

Word 1 DriveControlStatus Status word
Word 2 MotorSpeedAct Actual speed value
Word 3 MotorSpeedSet Resulting overall setpoint
Status word Name Status

________________________________________________________________
7.2.5 Setting parameters (short overview)

Value Unit
C00012 Accel. time - main setpoint 2.000 s

C00013 Decel. time - main setpoint 2.000 s
C00024 LS_DriveInterface: bNActCompare 0.00 %
C00036 DCB braking: Current 50.00 %
C00039/4...15 Fixed setpoint 4 ... 15 0.00 %
C00101/1...15 Add. accel. time 1 ... 15 0.000 s
C00103/1...15 Add. decel. time 1 ... 15 0.000 s
C00107 DCB braking: Hold time 999.000 s
C00134 L_NSet_1: Ramp smoothing 0: Off
C00182 L_NSet_1: S-ramp time PT1 20.00 s
C00190 L_NSet_1: Setpoint arithmetic 0: Out = Set
C00220 L_NSet_1: Acceleration time - add. setpoint 0.000 s
C00221 L_NSet_1: Deceleration time - add. setpoint 0.000 s
C00222 L_PCTRL_1: Vp 1.0
C00223 L_PCTRL_1: Tn 400 ms
C00224 L_PCTRL_1: Kd 0.0
C00225 L_PCTRL_1: MaxLimit 199.99 %
C00226 L_PCTRL_1: MinLimit -199.99 %
C00227 L_PCTRL_1: Acceleration time 0.010 s
C00228 L_PCTRL_1: Deceleration time 0.010 s
C00233 L_PCTRL_1: Root function 0: Off
C00241 L_NSet_1: Hyst. NSet reached 0.50 %
C00242 Operating mode of process controller 0: Off
C00243 L_PCTRL_1: Accel. time influence 5.000 s
C00244 L_PCTRL_1: Deceleration time influence 5.000 s
C00632/1 L_NSet_1: Blocking speed 1 max 0.00 %
C00633/1 L_NSet_1: Blocking speed 1 min 0.00 %
C00635 L_NSet_1: nMaxLimit 199.99 %
C00636 L_NSet_1: nMinLimit -199.99 %
C00670 L_OffsetGainP_1: Gain 1.0000
________________________________________________________________

Value Unit
C00696 L_OffsetGainP_1: Offset 0.00 %

C00800 L_MPot_1: Upper limit 100.00 %
C00801 L_MPot_1: Lower limit -100.00 %
C00802 L_MPot_1: Acceleration time 10.0 s
C00803 L_MPot_1: Deceleration time 10.0 s
C00804 L_MPot_1: Inactive fct. 0: Retain value
C00805 L_MPot_1: Init fct. 0: Load last value
C00806 Use of motor potentiometer 0: No
Related topics:
"GeneralPurpose" functions ( 385)
________________________________________________________________
7.2.6 Configuration parameters
If required, the subcodes of C00700 and C00701 serve to change the pre-configured assignment of
the application inputs:
Configuration parameters Entry in select list
LA_NCtrl
LS_AnalogInput
nMainSetValue_a
nIn1_a 16000 C700/7 L_Interpolator_1 L_OffsetGainP_1
bCurrentErrorIn1 16011
L_MPot_1
nln_a nOut_a
bMPotEnable bEnable
C701/31
bMPotUp bUp
C701/18
bMPotInAct bInAct
C701/17
bMPotDown bDown
C701/19
L_NSet_1
nNSet_a nNOut_a
... bRfgIEq0 bSpeedSetReached
1 1020
bRFG_Stop bRfgStop
C701/5 nSetValue_a
bRFG_0 bSpeedActEqSet
C701/6 bRfg0
bJogSpeed1 a
C701/9 bJog1 |a|=|b| 1021
bJogSpeed2 bJog2 b
C701/10
bJogSpeed4 bJog4
C701/11
bJogSpeed8 bJog8
C701/12
bJogRamp1 bTi1
C701/13
bJogRamp2 bTi2
C701/14
bJogRamp4 bTi4
C701/15
bJogRamp8 bTi8
C701/16
C700/8 L_OffsetGainP_2 nNAdd_a
nAuxSetValue_a bNSetInv
L_PCTRL_1
nNSet_a nOut_a
nPIDVpAdapt_a nAdapt_a
C700/5
nPIDActValue_a nAct_a
C700/6
nPIDInfluence_a nInfluence_a
C700/17
nPIDSetValue_a nSet_a
C700/18
bPIDEnableInfluence... bEnableInfluenceRamp
C701/32
bPIDIOff bIOff
C701/33
LS_ParFree_a
C472/1 nPar1_a 20010 LS_MotorInterface LS_AnalogOutput
nPar2_a nSpeedSetValue_a nMotorSpeedAct_a nMotorSpeedAct_a
C472/2 20011 1003 C620/1 nOut1_a
nPar3_a nTorqueMotLim_a nTorqueMotLim_a nMotorTorqueAct_a nMotorTorqueAct_a
C472/3 20012 C700/3 1013
nPar4_a nTorqueGenLim_a nTorqueGenLim_a bLimCurrentSetVal bImaxActive
C472/4 20013 C700/4 1019
nVoltageAdd_a nVoltageAdd_a nStatorCurrentIS_a nMotorCurrent_a
C700/16 1002
nBoost_a nBoost_a nDCVoltage_a nDCVoltage_a
C700/20 1014
nMotorVoltage_a nMotorVoltage_a
1015
bQSPActive bQSPIsActive
LS_DigitalInput 1003
bIn1 16000
bIn2 16001 LS_MotionControlKernel
bSetDCBrake bDCBrakeOn nSpeedSetValue_a nMotorSpeedSet_a
bIn3 16002 C701/4 1016
bSetQuickstop bMBrakeReleaseOut bMBrakeReleaseOut
bIn4 16003 C701/3 1015
1 bQspOn bMBrakeReleased bMBrakeReleased
bCInh 16008 bRLQCw 1016
C701/34
RLQ
bRLQCcw
C701/35
1
bSetSpeedCcw
LS_ParFix C701/8
C_bTrue 20000
bMBrakeRelease bMBrakeRelease
C_nPos100_a 20000 C701/20
nPWMAngleOffset nPWMAngleOffset
C_nNeg100_a 20001 C700/19
wSMControl wSMCtrl
C_nPos199_9_a 20002 C700/21
C_nNeg199_9_a 20003
C_w65535 20004 LS_DriveInterface
wCANDriveControl wCANControl wDeviceStatusWord wDriveControlStatus
C_wDriveCtrl 20005 C700/1 1000
wMCIDriveControl wMCIControl wStateDetermFailNoLow wStateDetermFailNoLow
C700/2
bCInh bCInh wStateDetermFailNoHigh wStateDetermFailNoHigh LS_DigitalOutput
C701/1
bFailReset bFailReset bFail bDriveFail
C701/2 1001 C621/1 bRelay
bReady bDriveReady
1000 C621/2 bOut1
bCInhIsActive bCInhActive
1002
bCwCcw bSpeedCcw
1004
bNactCompare bSpeedActCompare
1005
[7-2] Pre-assignment of the "Actuating drive speed" application in the "Terminals 0" control mode
________________________________________________________________
Configuration parameters for "GeneralPurpose" functions
LA_NCtrl
GeneralPurpose (GP) functions
nGPAnalogSwitchIn1_a C00830/14
C700/9 0 nGPAnalogSwitchOut_a
nGPAnalogSwitchIn2_a C00830/15 1006
C700/10 1
bGPAnalogSwitchSet C00833/13
C701/23
C00338 Out =
0 In1
1 In1 + In2
nGPArithmetikIn1_a C00830/12 In1 2 In1 - In2
C700/11
3 (In1 * In2) nGPArithmetikOut_a
1007
nGPArithmetikIn2_a C00830/13 In2 100%
C700/12 ±32767
4 (In1 * 1%) (±199.99%)
|In2|
5 (In1 * 100%)
(100% - In2)
nGPMulDivIn_a C00830/82 C00699/1 nGPMulDivOut_a

C700/13 1008
C00699/2
±32767
(±199.99%)
bGPDigitalDelayIn C00833/66 In
C701/24
Out bGPDigitalDelayOut
1008
C00720/1 C00720/2
0
bGPLogicIn1 C00833/63 0
C701/25 & 1
bGPLogicIn2 C00833/64 1 bGPLogicOut
2
C701/26 1009
C701/27 4
>1 C00820
0 0 0 C00821/1
0 0 1 C00821/2
0 1 0 C00821/3
...
1 1 1 C00821/8
C00681 C00682
nGPCompareIn1_a C00830/16
C700/14 bGPCompareOut
nGPCompareIn2_a C00830/17 1017
C700/15
f = C00680
C00411/1 C00412 - Bit 0

0 bGPSignalOut1
1010
1
C00411/2 C00412 - Bit 1
0 bGPSignalOut2
1011
1
C00411/3 C00412 - Bit 2
0 bGPSignalOut3
1012
1
C00411/4 C00412 - Bit 3
0 bGPSignalOut4
1013
1
[7-3] "GeneralPurpose" functions
________________________________________________________________
LA_NCtrl
C00410/1 C00413/1 C00413/2
nGPSignalOut1_a
1009
C00410/2 C00413/3 C00413/4

nGPSignalOut2_a
1010
C00410/3 C00413/5 C00413/6

nGPSignalOut3_a
1011
C00410/4 C00413/7 C00413/8

nGPSignalOut4_a
1012
bGPDFlipFlop_InD C00833/4 bGPDFlipFlopOut

C701/28 1D Q 1022
bGPDFlipFlop_InClk C00833/5
C701/29 C1
bGPDFlipFlop_InClr C00833/6 bGPDFlipFlop_NegOut
C701/30 R Q 1023
[7-4] "GeneralPurpose" functions (continuation)
Free inputs and outputs

These inputs can be freely interconnected in the application level. They can be used to transfer
signals from the I/O level to the application level and vice versa.
LA_NCtrl
Free In/Out
bGPFree1
C701/21
bGPFree2
C701/21
bFreeIn1 bFreeOut1
C701/41 1029
bFreeIn2 bFreeOut2
C701/42 1030
bFreeIn3 bFreeOut3
C701/43 1031
bFreeIn4 bFreeOut4
C701/44 1032
bFreeIn5 bFreeOut5
Application
C701/45 1033
bFreeIn6 bFreeOut6
C701/46 1034
bFreeIn7 bFreeOut7
C701/47 1035
bFreeIn8 bFreeOut8
C701/48 1036
wFreeIn1 wFreeOut1
C700/26 1023
wFreeIn2 wFreeOut2
C700/27 1024
wFreeIn3 wFreeOut3
C700/28 1025
wFreeIn4 wFreeOut4
C700/29 1026
[7-5] Free inputs/outputs
Related topics:
7.3 TA "actuating drive speed (AC Drive Profile)"
________________________________________________________________
This technology application is available from version 13.00.00!
The EtherNet/IP™ communication module supports the "AC Drive Profile".

When the controller is provided with an EtherNet/IP™ communication module and the control is to
be carried out by means of "AC Drive Profile" via EtherNet/IP™, make the following settings:
1. Set the application "1100: Actuating drive speed (AC Drive Profile)" in C00005.
2. Set the "40: MCI" control mode in C00007.
• The process data word received by the master control is then interpreted by the application
as "AC Drive Profile" control word.
• When the control is carried out via the system bus (CANopen), set the "30: CAN" control mode
instead in C00007.
Features
• adjustable offset, gain and negation of the speed setpoint
• Motor potentiometer function (optional)
• Process controller (optional)
 Note!
In contrast to the "actuating drive speed" standard application, this application makes
use of the nAuxSetValue_a input to determine a local speed setpoint (when NetRef=0).
For this reason, the nNAdd_a input at the L_NSet_1 setpoint generator for determining
an additional speed setpoint is not connected in the Lenze setting.
________________________________________________________________
7.3.1 I/O assemblies
For the data exchange, the technology application supports the assembly output object instance 23
(0x17) and assembly input object instance 73 (0x49) defined by the ODVA (Open DeviceNet Vendor
Association).
Instance 23 (0x17): Extended Speed and Torque Control Output

Bytes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Net NetCtrl Fault Run Run
Ref Reset Rev Fwd
1
2 Speed Reference (Low Byte)
3 Speed Reference (High Byte)
4 Torque Reference (Low Byte)
5 Torque Reference (High Byte)
Instance 73 (0x49): Extended Speed and Torque Control Input

Bytes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 At RefFrom CtrlFrom Ready Running2 Running1 Warning Faulted
Reference Net Net (Rev) (Fwd)
1 Drive State
2 Speed Actual (Low Byte)
3 Speed Actual (High Byte)
4 Torque Actual (Low Byte)
5 Torque Actual (High Byte)
 Detailed information on the data transfer and "AC Drive Profile" can be found in the
E84AYCEO communication manual (EtherNet/IP™).
 Tip!
Detailed information on EtherNet/IP™ can be found at the web page of the ODVA (Open
DeviceNet Vendor Association) user organisation:
http://www.odva.org
Related topics:
Process data assignment for fieldbus communication
Run/Stop event
Scaling of speed and torque values
________________________________________________________________
[7-6] Signal flow of the "actuating drive speed (AC Drive Profile)" technology application
 Configuration of the signal source for setpoint selection via fieldbus (NetRef=1)
 Configuration of the signal source for local setpoint selection (NetRef=0)
 Offset and gain for speed setpoint (L_OffsetGainP_1)
 Setpoint generator (L_NSet_1)
 Speed setpoint input limitation
 Holding brake control
 Terminal assignment & display of digital control signals
 Integrated disposable "GeneralPurpose" functions: Analog switch, arithmetic, multiplication/division, binary
________________________________________________________________
Definition of the speed setpoint

The speed setpoint is usually defined as process date via the fieldbus. If set accordingly, the speed
setpoint can also be determined locally (e.g. via the analog input 1). Depending on the selection,
either only the nMainSetValue_a application input or only the application input nAuxSetValue_a is
effective. The following table shows the relationships:
Fieldbus used Control mode Speed AC Drive Profile control word effective input
(C00007) reference (wMCIDriveControl) (at LA_NCtrl)
40: MCI via fieldbus Bit 6 ("NetRef") = 1 nMainSetValue_a
(data word 2)
local* Bit 6 ("NetRef") = 0 nAuxSetValue_a
30: CAN via fieldbus Bit 6 ("NetRef") = 1 nMainSetValue_a
(data word 2)
- 10: Terminals 0 local* 9 ≡ 0x0009 nAuxSetValue_a
12: Terminals 2 • Bit 0, SwitchOn = TRUE
14: Terminals 11 • Bit 3, EnableOperation = TRUE
16: Terminals 16 • All others: FALSE
20: Keypad C00728/3
21: PC C00472/1
* The local setpoint is selected in the Lenze setting via the analog input 1
Scaling of the speed setpoint

If the setpoint is determined via fieldbus (NetRef=1), the setpoint applied to the nMainSetValue_a
application input is evaluated with the speed scaling set in C01353/1 (AC Drive Attribute
22).Scaling of speed and torque values.
If the setpoint is determined locally (e.g. via the analog input 1), the setpoint applied to the
nAuxSetValue_a application input is scaled as follows:
16384 ≡ 100 % reference speed (C00011).
Offset & gain

Offset and gain of the speed signal can be set in C00696 and C00670 for a simple signal adjustment
of a setpoint encoder.
Ramp function generator

The setpoint is transformed to a speed setpoint in the setpoint encoder via a ramp function
generator with linear or S-shaped ramps.
• Upstream to the ramp function generator, a blocking speed masking function and a setpoint
MinMax limitation are effective.
Selection of the direction of rotation

• In case of control via fieldbus via bit 0 "Run Forward" and bit 1 "Run Backward" of the AC Drive
Profile control word.
• In case of local control via the bSetSpeedCcw application input or by selecting negative fixed
setpoints.
________________________________________________________________
Selection of the torque setpoint in torque mode

In torque mode", the nTorqueGenLim_a application input has the function of the torque setpoint
selection.
The torque setpoint is usually defined as process date via the fieldbus. If set accordingly, the torque
setpoint can also be determined locally (e.g. via the analog input 1).
For the local selection of the torque setpoint, the same application input (nAuxSetValue_a) is used
as for the local selection of the speed setpoint. In "torque mode" however, the nAuxSetValue_a
input is internally connected to the nTorqueGenLim_a input. In this case, the speed setpoint is
internally permanently set to "100 %".
The relationships are shown in the following table:
Fieldbus used Control mode Torque AC Drive Profile control word effective input
(C00007) reference (wMCIDriveControl) (at LA_NCtrl)
40: MCI via fieldbus Bit 6 ("NetRef") = 1 nTorqueGenLim_a
(data word 3)
30: CAN via fieldbus Bit 6 ("NetRef") = 1 nTorqueGenLim_a
(data word 3)
- 10: Terminals 0 local* 9 ≡ 0x0009 nAuxSetValue_a
12: Terminals 2 • Bit 0, SwitchOn = TRUE
14: Terminals 11 • Bit 3, EnableOperation = TRUE
16: Terminals 16 • All others: FALSE
20: Keypad C00728/3
21: PC C00472/1
* The local setpoint is selected in the Lenze setting via the analog input 1
________________________________________________________________
7.3.3 Internal interfaces | application block "LA_NCtrl"
 Note!
Inputs

Data type
wCANDriveControl Input for CAN control word

WORD • Is not used in this configuration and is thus set to the permanent value "9" in the
Lenze setting (SwitchOn = TRUE and EnableOperation = TRUE).
• For the evaluation of the AC Drive Profile control word received via fieldbus, the
wMCIDriveControl input is used in the control modes 30: CAN" and "40: MCI".
wMCIDriveControl Input for the AC Drive Profile control word received via fieldbus
WORD • The AC Drive Profile control word operates the controller in compliance with the
assembly output object instances 20 ... 23. For this purpose, the control bits are
evaluated and lead to a corresponding modification of the control signals
bFailReset, bRFG_0 and bSetSpeedCcw which results in the AC Drive-specific
behaviour.
• See the "Process data assignment for fieldbus communication" subchapter for a
detailed description of the individual control bits.
Control Kernel).
• See the subchapter "Interface to safety system" of the chapter on basic drive
functions for a detailed description of the individual control bits.
BOOL
device status if no other source for controller inhibit is active.
"SwitchedOn" device status.
BOOL • In the Lenze setting this input is connected to the digital input controller enable
so that a possibly existing error message is reset together with the controller
enable (if the cause for the fault is eliminated).
• In case of control via fieldbus (NetCtrl=1): This input is OR'd with bit 2 ("fault
reset") of the AC Drive Profile control word.
________________________________________________________________

Data type

via C00019.
is active.
stop.
 Note!
a low rate of wear.
pulse inhibit.
BOOL integrator
bRFG_0 Ramp function generator: Lead the main setpoint integrator to "0" within the
BOOL current Ti times
• In case of control via fieldbus (NetCtrl=1): If a stop is triggered via bit 0 ("Run
Forward") and bit 1 ("Run Backward") of the AC Drive Profile control word, this
signal is internally set to TRUE and thus the drive is braked to standstill.
the Ti time set.
input.
• Scaling: 16384 ≡ 1000 V
 Stop!
current!
________________________________________________________________

Data type

• Scaling: 16384 ≡ 1000 V
 Stop!
current!
nTorqueMotLim_a Torque limitation in motor mode and in generator mode (speed mode)
nTorqueGenLim_a or torque setpoint selection (torque mode)
INT
When "speed mode" is set, the following applies:
• The torque limitation in motor mode and generator mode are determined via
nTorqueMotLim_a.
• The nTorqueGenLim_a input is not effective.
When "torque mode" is set, the following applies:
• The torque setpoint is determined via nTorqueGenLim_a.
• The nTorqueMotLim_a input is not effective.
More notes for both inputs:
• These input signals are directly transferred to the motor control to limit the
controller's maximum torque in motor and generator mode.
• If sensorless vector control (SLVC) or servo control (SC) is selected, limitation has
a direct effect on the torque-producing current component.
• Scaling: 16384 ≡ 100 % Mmax (C00057)
TorqueGenLim M
TorqueMotLim
MN
-nN nN n
-MN
TorqueMotLim
TorqueGenLim

rotation.
• Input only effective in case of local control (NetCtrl=0)
FALSE Quick stop
TRUE CW rotation
________________________________________________________________

Data type

BOOL • Input only effective in case of local control (NetCtrl=0)
• For a detailed functional description see the L_RLQ FB.
FALSE Quick stop
nMainSetValue_a Speed setpoint via fieldbus in [rpm]
INT • Input only effective in case of setpoint selection via fieldbus (NetRef=1)
• This input is evaluated with the speed scaling set in C01353/1 (AC Drive Attribute
22).Scaling of speed and torque values
• An absolute value is created internally (the sign has no meaning).
• The setpoint is transformed to a speed setpoint in the setpoint encoder via a
ramp function generator with linear or S-shaped ramps.
nAuxSetValue_a Local speed setpoint (speed mode) or torque setpoint (torque mode)
INT • Input only effective in case of local setpoint selection (NetRef=0)
When "speed mode" is set, the following applies:
• The input value is interpreted as speed setpoint.
• The setpoint is transformed to a speed setpoint in the setpoint encoder via a
ramp function generator with linear or S-shaped ramps.
When "torque mode" is set, the following applies:
• The input value is interpreted as torque setpoint.
(Input nAuxSetValue_a is internally connected to input nTorqueGenLim_a).
• Scaling: 16384 ≡ 100 % Mmax (C00057)
• The speed setpoint is internally permanently set to "100 %".
bJogSpeed1 Selection inputs for override fixed setpoints (JOG setpoints)
bJogSpeed2 • Inputs only effective in case of local setpoint selection (NetRef=0)
BOOL • These selection inputs can be used to activate a fixed setpoint for the setpoint
bJogSpeed4 generator instead of the setpoint applied to the nAuxSetValue_a input.
bJogSpeed8 • The four selection inputs are binary coded, therefore 15 fixed setpoints can be
BOOL selected.
• In case of binary coded selection "0" (all inputs = FALSE or not assigned), the main
setpoint applied to the nAuxSetValue_a input is active.
• The selection of the fixed setpoints is carried out in C00039/1...15 in [%] based
on the reference speed (C00011).
bJogRamp1 Selection inputs for alternative acceleration/deceleration times
bJogRamp2 • The four selection inputs are binary coded, therefore 15 alternative
BOOL acceleration/deceleration times can be selected.
bJogRamp4 • In case of binary selection "0" (all inputs = FALSE or not assigned), the acceleration
bJogRamp8 time (C00012) and deceleration time (C00013) set for the main setpoint are
BOOL
active.
________________________________________________________________

Data type
Motor potentiometer
Alternatively to the input signal nMainSetValue_a (or nAuxSetValue_a in case of local setpoint selection), the speed
setpoint can also be generated via a motor potentiometer function.
• The behaviour of the motor potentiometer during switch-on of the drive system can be selected in C00805.
bMPotEnable Activating the motor potentiometer function
BOOL • This input and C00806 are OR'd.
TRUE The motor potentiometer function is active; the speed setpoint can
be changed via the bMPotUp and bMPotDown control inputs.
bMPotUp Increasing the speed setpoint
BOOL
TRUE Approach the upper speed limit value set in C00800 with the
acceleration time set in C00802.
bMPotInAct Activating the inactive function
BOOL
TRUE The speed setpoint behaves according to the inactive function set in
C00804.
• In the Lenze setting, the speed setpoint is maintained.
bMPotDown Decreasing the speed setpoint
BOOL
TRUE Approach the lower speed limit value set In C00801 with the
deceleration time set in C00803.
Process controller
• In the Lenze setting, the process controller is deactivated.
• The activation is executed by selecting the operating mode in C00242.
• For a detailed functional description see FB L_PCTRL.
bPIDEnableInfluenceRamp Activate ramp for influencing factor
BOOL
TRUE Influencing factor of the PID controller is ramped up to the value
nPIDInfluence_a.
bPIDIOff Switch off the I-component of the process controller
BOOL • In conjunction with the operating mode set in C00242
(Lenze setting: "Off").
TRUE I-component of the process controller is switched off.
nPIDVpAdapt_a Adaptation of gain Vp set in C00222 in percent
INT • Scaling: 16384 ≡ 100 %
nPIDSetValue_a Sensor and process setpoint for operating modes 2, 4 and 5
INT • Scaling: 16384 ≡ 100 %
nPIDActValue_a Speed or actual sensor value (actual process value)
INT • Offset and gain for this input signal can be set in C00698 and C00672.
• Scaling: 16384 ≡ 100 %
nPIDInfluence_a Limitation of the influencing factor in percent
INT • The influence factor of the PID controller can be limited to a certain value (-
199.99% ... + 199.99%) via nPIDInfluence_a.
• Scaling: 16384 ≡ 100 %
________________________________________________________________

Data type
MCK basic functions

FALSE Apply brake.
brake.
• Note!
deactivated.
GP: GeneralPurpose
bGPFree1 ... bGPFree2 Free inputs for digital signals
BOOL • Digital signals can be transferred from the I/O level to the application level via
these inputs.
BOOL
BOOL

TRUE.
bGPDFlipFlop_InClr
BOOL
________________________________________________________________

Data type
Free inputs
BOOL

WORD
Outputs
Data type
wDriveControlStatus AC Drive Profile status word

controller.
• For a detailed description of the individual status bits, see subchapter entitled
"Process data assignment for fieldbus communication.
WORD

WORD

BOOL

BOOL

BOOL
BOOL
bOverLoadActive In preparation (output is not interconnected on the application level)
BOOL
bUnderLoadActive In preparation (output is not interconnected on the application level)

BOOL

BOOL
BOOL
BOOL

________________________________________________________________
Data type

• The absolute value is output (the sign has no meaning).
• Scaling: 16384 ≡ 100 % Mmax (C00057)
• The absolute value is output (the sign has no meaning).
INT • Scaling: 16384 ≡ 1000 V
INT • Scaling: 16384 ≡ 1000 V
MCK basic functions
FALSE Apply brake.
TRUE Release brake.
GP: GeneralPurpose
INT

INT

INT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL
________________________________________________________________
Data type
Free outputs
BOOL

WORD
________________________________________________________________
7.3
7
The following comparison provides information about which inputs/outputs of the application block LA_NCtrl are interconnected to the digital
and analog input/output terminals of the drive controller in the different control modes.
TA "actuating drive speed (AC Drive Profile)"

X4/RFR Controller enable / Reset of error message
bFailReset
X4/DI1 Fixed setpoint 1/3 Change of direction of Fixed setpoint 1/3 - - Only if NetCtrl=0:
bJogSpeed1 rotation bJogSpeed1 fixed setpoint 1/3
bSetSpeedCcw bJogSpeed1
X4/DI2 Fixed setpoint 2/3 Activate manual DC- Fixed setpoint 2/3 - - Only if NetCtrl=0:
bJogSpeed2 injection braking (DCB) bJogSpeed2 fixed setpoint 2/3
bSetDCBrake bJogSpeed2
X4/DI3 Activate manual DC- Quick stop Motor potentiometer: CW rotation quick stop - - Only if NetCtrl=0:
injection braking (DCB) bSetQuickstop Increase speed bRLQCw Activate manual DC-injection braking (DCB)
bSetDCBrake bMPotUp bSetDCBrake
X4/DI4 Change of direction of rotation Motor potentiometer: CCW rotation quick stop - - Only if NetCtrl=0:
bSetSpeedCcw Decrease speed bRLQCcw change of direction of rotation
bMPotDown bSetSpeedCcw
X3/A1U, A1I Local setpoint - - Only if NetRef=0: Local setpoint
nAuxSetValue_a nAuxSetValue_a
Speed mode: 10 V ≡ 100 % reference speed (C00011) Speed mode: 10 V ≡ 100 % reference speed (C00011)
Torque mode: 10 V ≡ 100 % Mmax (C00057); speed setpoint = 100 % (fixed) Torque mode: 10 V ≡ 100 % Mmax (C00057)

X4/DO1 Status "Drive is ready"
bDriveReady
X101/COM, NO Status "Error is pending"
bDriveFail
X3/O1U Actual speed value
nMotorSpeedAct_a
10 V ≡ 100 % reference speed (C00011)
339
________________________________________________________________
7.3.4.1 Terminals 0
X101
COM
NC
DriveFail NO
X3
Speed mode:
AR
Speed setpoint A1U
Torque mode:
Torque setpoint A1I
GA
External
supply X4
+ 24E
24 V DC =
24I
DC brake DI3
DO1 DriveReady
GIO
CG
CH
CL
X1


X4/DI3 LA_NCtrl.bSetDCBrake * 10 V ≡ 100 % reference speed (C00011)
________________________________________________________________
7.3.4.2 Terminals 2
X101
COM
NC
DriveFail NO
X3
Speed mode:
AR
Speed setpoint A1U
Torque mode:
Torque setpoint A1I
GA
External
supply X4
+ 24E
24 V DC =
24I
Quickstop DI3
DO1 DriveReady
GIO
CG
CH
CL
X1


X4/DI3 LA_NCtrl.bSetQuickstop * 10 V ≡ 100 % reference speed (C00011)
________________________________________________________________
X101
COM
NC
DriveFail NO
X3
Speed mode:
AR
Speed setpoint A1U
Torque mode:
Torque setpoint A1I
GA
External
supply X4
+ 24E
24 V DC =
24I
DC brake active DI2
Motor potentiometer Speed higher DI3
Speed lower DI4
DO1 DriveReady
GIO
CG
CH
CL
X1


X4/DI1 LA_NCtrl.bSetSpeedCcw X3/A1I -
X4/DI2 LA_NCtrl.bSetDCBrake X3/O1U LA_NCtrl.nMotorSpeedAct_a *
X4/DI3 LA_NCtrl.bMPotUp * 10 V ≡ 100 % reference speed (C00011)
X4/DI4 LA_NCtrl.bMPotDown X4/DO1 LA_NCtrl.bDriveReady
________________________________________________________________
7.3.4.4 Terminal 16
X101
COM
NC
DriveFail NO
X3
Speed mode:
AR
Speed setpoint A1U
Torque mode:
Torque setpoint A1I
GA
External
supply X4
+ 24E
24 V DC =
24I
Cw rotation quick stop DI3
Ccw rotation quick stop DI4
DO1 DriveReady
GIO
CG
CH
CL
X1


X4/DI3 LA_NCtrl. bRLQCw * 10 V ≡ 100 % reference speed (C00011)
X4/DI4 LA_NCtrl. bRLQCcw X4/DO1 LA_NCtrl.bDriveReady
________________________________________________________________
7.3.4.5 Keypad
X101 Engineer: Keypad:

COM
NC All parameters Par1 8400 StateLineC
DriveFail NO
User - Menu
Quick commissioning
X3
Terminal Go to param
AR
Logbook
A1U Quick commissioning
Keypad
A1I Quick commissioning
GA SAVE
C7 Par1 Quick commissioning

External C728/3
supply X4 C2/6 Terminals
+ 24E
24 V DC = C2/1 Keypad
24I C2/19
Controller enable / RFR C11
C12 SAVE
reset error DI1
DI2 C13
DI3 C15
C16
DI4 C22
DO1 DriveReady C87
GIO C89
C39/1
C727/3
CG
CH
CL
C727/4
X1 C51
C54


X4/DI1 - X3/A1I -
________________________________________________________________
7.3.4.6 PC
X101
COM
NC
DriveFail NO
X3
AR
A1U
A1I
GA
External
supply X4
+ 24E
24 V DC =
24I
DI1
DI2
DI3
DI4
DO1 DriveReady
GIO
CG
CH
CL
X1


X4/DI1 - X3/A1I -
X4/DI3 - * 10V ≡ 100% of reference speed (C00011)
________________________________________________________________
7.3.4.7 CAN
X101
COM
NC
DriveFail NO
X3
Speed mode:
AR
Speed setpoint A1U
Torque mode:
Torque setpoint A1I
GA
(only if NetRef=0) O1U Actual speed value
External
supply X4
+ 24E
24 V DC =
24I
Fixed setpoint 1/3* DI1 * Inputs only active
Fixed setpoint 2/3* DI2 if NetCtrl=0
DC brake* DI3
Change of direction of rotation* DI4
DO1 DriveReady
GIO
CG
CH
CL
wIn2 SpeedReference wOut2 SpeedActual

wIn3 TorqueReference
X1 wOut3 TorqueActual
wIn4 - wOut4 -


X4/DI3 LA_NCtrl.bSetDCBrake * 10V ≡ 100% of reference speed (C00011)
________________________________________________________________
7.3.4.8 MCI
X101
COM
NC
DriveFail NO
X3
Speed mode:
AR
Speed setpoint A1U
Torque mode:
Torque setpoint A1I
GA
(only if NetRef=0) O1U Actual speed value
External
supply X4
+ 24E
24 V DC =
24I
Fixed setpoint 1/3* DI1 * Inputs only active
Fixed setpoint 2/3* DI2 if NetCtrl=0
DC brake* DI3
Change of direction of rotation* DI4
DO1 DriveReady
GIO
CG
CH
CL
X1
LP_MciIn LP_MciOut
wIn2 SpeedReference wOut2 SpeedActual
wIn3 TorqueReference wOut3 TorqueActual
wIn4...16 - wOut4...16 -


X4/DI3 LA_NCtrl.bSetDCBrake * 10V ≡ 100% of reference speed (C00011)
________________________________________________________________

• "40: MCI" for the connection to a plugged-in communication module (e.g. EtherNet/IP™)
used:

Word 2 SpeedReference Speed setpoint in [rpm]
Word 3 TorqueReference Torque setpoint in [Nm]

Bit 0 Run Forward Relationships between Run1 and Run2 and trigger events can be
found in the chapter "Run/Stop event".
Bit 1 Run Backward
Bit 2 Fault Reset 01 ≡ Reset error
0 ≡ No response
Bit 3 Reserved -
Bit 4 Reserved -
Bit 5 NetCtrl Run/Stop control:
0 ≡ via local setting in the device or terminal
1 ≡ via fieldbus (e.g. by the scanner)
Bit 6 NetRef Reference speed/reference torque:
Bit 7 ... 15 Reserved -

Word 2 SpeedActual Actual speed value in [rpm]
Word 3 TorqueActual Actual torque in [Nm]
________________________________________________________________

Bit 0 Faulted 0 ≡ No errors
1 ≡ Errors have occurred
Bit 1 Warning 0 ≡ No warnings
1 ≡ Warnings have occurred
Bit 2 Running1 (Fwd) Relationships between Run1 and Run2 and trigger events can be
found in the chapter "Run/Stop event".
Bit 3 Running2 (Rev)
Bit 4 Ready 0 ≡ Different status than in case of "1"
1 ≡ Ready or Enabled or Stopping
Bit 5 Ctrl from Net Run/Stop control:
Bit 6 Ref from Net Reference speed/reference torque:
Bit 7 At Reference 1 ≡ The drive currently runs with reference speed (speed mode)
or reference torque (Torque mode)
Bit 8 Drive State The "Drive State" is coded as follows:
Bit 9 Drive State 0: Manufacturer-specific (not used with 8400)
1: Start-up (drive initialisation)
Bit 10 Drive State 2: Not_Ready (mains voltage switched off)
Bit 11 Drive State 3: Ready (mains voltage switched-on)
4: Enabled (drive has received "Run" command)
Bit 12 Drive State
5: Stopping (drive has received "Stop" command and is stopped)
Bit 13 Drive State 6: Fault_Stop (drive is stopped due to an error)
Bit 14 Drive State 7: Faulted (errors have occurred)
Bit 15 Drive State
7.3.5.1 Run/Stop event

Relationships between Run1 and Run2:
Starter Drive
Contactor Starter Reverser Speed Soft start
Run1 Close Run RunFwd RunLow RunRamp1 RunFwd
Run2 No Action No Action RunRev RunHigh RunRamp2 RunRev
Run1 and Run2 trigger:
Run1 Run2 Trigger event Run type

0 0 Stop No Action
01 0 Run Run1
0 01 Run Run2
01 01 No Action No Action
1 1 No Action No Action
10 1 Run Run2
1 10 Run Run1
________________________________________________________________
7.3.5.2 Scaling of speed and torque values
Scaling of the speed values

The speed setpoint is defined by the bus in [rpm]. The conversion then takes place in the controller
as all speed-related signals are processed to a reference variable in percent. An adjustable scaling
factor serves to make an additional scaling.
Equation for scaling the speed setpoint
16384 1
Speed setpoint Application = Speed setpoint Bus [rpm] ⋅ ---------------------------------------------------------- ⋅ --------------------------------
Reference speed [rpm] 2 Scaling factor
Parameter Name Description
C00011 Appl.: Reference speed Reference variable for speed-related signals

C01353/1 ACDrive: Speed scaling In the Lenze setting "0", no scaling takes place (20 = 1)
For the output of the actual speed value to the bus, the following conversion is made:
Equation for scaling the actual speed value
Reference speed [rpm] Scaling factor

Actual speed value Bus [rpm] = Actual speed value Application ⋅ ---------------------------------------------------------- ⋅ 2
16384
C00011 Appl.: Reference speed Reference variable for speed-related signals

C01353/1 ACDrive: Speed scaling In the Lenze setting "0", no scaling takes place (20 = 1)
Scaling of the torque values

The torque setpoint is defined by the bus in [Nm]. The conversion then takes place in the controller
as all torque-related signals are processed to a reference variable in percent. An adjustable scaling
factor serves to make an additional scaling.
Equation for scaling the torque setpoint
16384 ⋅ 100 1
Torque setpoint Application = Torque setpoint Bus [Nm] ⋅ ------------------------------------------------------------------------- ⋅ --------------------------------
Maximum torque [0.01 Nm] 2 Scaling factor
C00057 Maximum torque Reference variable for torque-related signals

C01353/2 ACDrive: Torque scaling In the Lenze setting "0", no scaling takes place (20 = 1)
For the output of the actual torque value to the bus, the following conversion is made:
Equation for scaling the actual torque
Maximum torque [0.01 Nm] Scaling factor

Actual torque Bus [Nm] = Actual torque Application ⋅ ------------------------------------------------------------------------- ⋅ 2
16384 ⋅ 100
C00057 Maximum torque Reference variable for torque-related signals

C01353/2 ACDrive: Torque scaling In the Lenze setting "0", no scaling takes place (20 = 1)
________________________________________________________________
7.3.6 AC Drive Profile diagnostic parameters
In the All parameters tab, the parameters for diagnostic purposes listed in the following table are
displayed in the AC Drive Profile category.
 Note!
These parameter are set by the EtherNet/IP™ communication module and should not be
written by the user.

C01350/1 ACDrive: DriveMode 1: Speed mode
C01351/1 ACDrive: Control word -
C01352/1 ACDrive: Status word -
C01353/1 ACDrive: Speed scaling 0
C01353/2 ACDrive: Torque scaling 0

Value Unit

C00024 LS_DriveInterface: bNActCompare 0.00 %
C00036 DCB braking: Current 50.00 %
C00039/4...15 Fixed setpoint 4 ... 15 0.00 %
C00101/1...15 Add. accel. time 1 ... 15 0.000 s
C00103/1...15 Add. decel. time 1 ... 15 0.000 s
C00222 L_PCTRL_1: Vp 1.0
C00223 L_PCTRL_1: Tn 400 ms
C00224 L_PCTRL_1: Kd 0.0
________________________________________________________________

Value Unit
C00225 L_PCTRL_1: MaxLimit 199.99 %

C00226 L_PCTRL_1: MinLimit -199.99 %
C00227 L_PCTRL_1: Acceleration time 0.010 s
C00228 L_PCTRL_1: Deceleration time 0.010 s
C00233 L_PCTRL_1: Root function 0: Off
C00242 Operating mode of process controller 0: Off
C00243 L_PCTRL_1: Accel. time influence 5.000 s
C00244 L_PCTRL_1: Deceleration time influence 5.000 s
Related topics:
________________________________________________________________
LA_NCtrl
nMainSetValue_a
LS_AnalogInput C700/7 L_Interpolator_1 L_OffsetGainP_1
nAuxSetValue_a
nIn1_a 16000 C700/8
bCurrentErrorIn1 16011 100 %
L_MPot_1
nln_a nOut_a
bMPotEnable bEnable
C701/31
bMPotUp bUp
C701/18
bMPotInAct bInAct
C701/17
bMPotDown bDown
C701/19
L_NSet_1
nNSet_a nNOut_a
... bSpeedSetReached
bRfgIEq0 1020
bRFG_Stop 1 bRfgStop
nSetValue_a
C701/5
C701/6 bRfg0
bJogSpeed1 a
C701/9 bJog1 |a|=|b| 1021
bJogSpeed2 bJog2 b
C701/10
bJogSpeed4 bJog4
C701/11
bJogSpeed8 bJog8
C701/12
bJogRamp1 bTi1
C701/13
bJogRamp2 bTi2
C701/14
bJogRamp4 bTi4
C701/15
bJogRamp8 bTi8
C701/16
L_OffsetGainP_2 nNAdd_a
bNSetInv
L_PCTRL_1
nNSet_a nOut_a
C700/5
C700/6
C700/17
nPIDSetValue_a nSet_a
C700/18
bPIDEnableInfluence... bEnableInfluenceRamp
C701/32
bPIDIOff bIOff
C701/33
LS_ParFree_a
C472/1 nPar1_a 20010 LS_MotorInterface LS_AnalogOutput
C472/2 20011 1003 C620/1 nOut1_a
C472/3 20012 C700/3 1013
C472/4 20013 C700/4 1019
C700/16 1002
C700/20 1014
1015
bIn1 16000
bIn3 16002 C701/4 1016
bIn4 16003 C701/3 1015
C701/34
RLQ
bRLQCcw
C701/35
1
bSetSpeedCcw
C701/8
LS_ParFix
C_bTrue 20000 C701/20
C_nPos100_a 20000 C700/19
wSMControl wSMCtrl
C_nNeg100_a 20001 C700/21
C_nPos199_9_a 20002
C_nNeg199_9_a 20003 LS_DriveInterface
C_w65535 20004 C700/1 1000
C_wDriveCtrl 20005 C700/2
C701/1
C701/2 1001 C621/1 bRelay
bReady bDriveReady
1000 C621/2 bOut1
1002
bCwCcw bSpeedCcw
1004
1005
 nMainSetValue_a input is only effective when NetRef=1; nAuxSetValue_a input is only effective when NetRef=0
 Torque mode: nAuxSetValue_a input is internally connected to nTorqueGenLim_a; speed setpoint = 100 % (fixed)
[7-7] Pre-assignment of the "Actuating drive speed" (AC Drive Profile) application in the "Terminals 0" control mode
________________________________________________________________
LA_NCtrl
nMainSetValue_a
nAuxSetValue_a
nIn1_a 16000 C700/8
L_MPot_1
nln_a nOut_a
bMPotEnable bEnable
C701/31
bMPotUp bUp
C701/18
LP_CanIn1 bMPotInAct bInAct
C701/17
bMPotDown bDown
wCtrl 16002 C701/19
wIn2 16003
wIn3 16004
wIn4 16005 L_NSet_1
nNSet_a nNOut_a
bRfgIEq0 1020
nSetValue_a
C701/5
C701/6 bRfg0
bJogSpeed1 a
C701/9 bJog1 |a|=|b| 1021
bJogSpeed2 bJog2 b
C701/10
bJogSpeed4 bJog4
C701/11
bJogSpeed8 bJog8
C701/12
bJogRamp1 bTi1
C701/13
bJogRamp2 bTi2
C701/14
bJogRamp4 bTi4
C701/15
bJogRamp8 bTi8
C701/16
bNSetInv
L_PCTRL_1
nNSet_a nOut_a
C700/5
C700/6
C700/17
nPIDSetValue_a nSet_a LS_AnalogOutput
C700/18
bPIDEnableInfluence... bEnableInfluenceRamp C620/1 nOut1_a
C701/32
bPIDIOff bIOff
C701/33
LS_ParFree_a LP_CanOut1
C472/1 nPar1_a 20010 LS_MotorInterface C620/2 wState
C472/2 20011 1003 C620/3 wOut2
C472/3 20012 C700/3 1013 C620/4 wOut3
C472/4 20013 C700/4 1019 C620/5 wOut4
C700/16 1002
C700/20 1014
1015
bIn1 16000
bIn3 16002 C701/4 1016
bIn4 16003 C701/3 1015
C701/34
RLQ
bRLQCcw
C701/35
1
bSetSpeedCcw
C701/8
LS_ParFix
C_bTrue 20000 C701/20
C_nPos100_a 20000 C700/19
wSMControl wSMCtrl
C_nNeg100_a 20001 C700/21
C_nPos199_9_a 20002
C_w65535 20004 C700/1 1000
C701/1
C701/2 1001 C621/1 bRelay
bReady bDriveReady
1000 C621/2 bOut1
1002
bCwCcw bSpeedCcw
1004
1005
[7-8] Pre-assignment of the "Actuating drive speed" (AC Drive Profile) application in the "CAN " control mode
________________________________________________________________
LA_NCtrl
nMainSetValue_a
nAuxSetValue_a
nIn1_a 16000 C700/8
L_MPot_1
nln_a nOut_a
bMPotEnable bEnable
C701/31
bMPotUp bUp
C701/18
LP_MciIn bMPotInAct bInAct
C701/17
bMPotDown bDown
wCtrl 16104 C701/19
wIn2 16105
wIn3 16106
wIn4 16107 L_NSet_1
wIn5 16108 nNSet_a nNOut_a
wIn6 16109 bRfgIEq0 1020
nSetValue_a
wIn7 16110 C701/5
wIn8 16111 C701/6 bRfg0
bJogSpeed1 a
wIn9 16112 C701/9 bJog1 |a|=|b| 1021
bJogSpeed2 bJog2 b
wIn10 16113 C701/10
bJogSpeed4 bJog4
wIn11 16114 C701/11
bJogSpeed8 bJog8
wIn12 16115 C701/12
bJogRamp1 bTi1
wIn13 16116 C701/13
bJogRamp2 bTi2
wIn14 16117 C701/14
bJogRamp4 bTi4
wIn15 16118 C701/15
bJogRamp8 bTi8
wIn16 16119 C701/16
bNSetInv
L_PCTRL_1
nNSet_a nOut_a
C700/5
C700/6
C700/17
nPIDSetValue_a nSet_a LS_AnalogOutput
C700/18
bPIDEnableInfluence... bEnableInfluenceRamp C620/1 nOut1_a
C701/32
bPIDIOff bIOff
C701/33
LS_ParFree_a LP_MciOut
C472/1 nPar1_a 20010 LS_MotorInterface C620/22 wState
C472/2 20011 1003 C620/23 wOut2
C472/3 20012 C700/3 1013 C620/24 wOut3
C472/4 20013 C700/4 1019 C620/25 wOut4
C700/16 1002 C620/26 wOut5
C700/20 1014 C620/27 wOut6
1015 C620/28 wOut7
LS_DigitalInput 1003 C620/29 wOut8
bIn1 16000 C620/30 wOut9
bIn2 16001 LS_MotionControlKernel C620/31 wOut10
bSetDCBrake bDCBrakeOn nSpeedSetValue_a nMotorSpeedSet_a C620/32 wOut11
bIn3 16002 C701/4 1016
bSetQuickstop bMBrakeReleaseOut bMBrakeReleaseOut C620/33 wOut12
bIn4 16003 C701/3 1015
1 bQspOn bMBrakeReleased bMBrakeReleased C620/34 wOut13
C701/34 C620/35 wOut14
RLQ C620/36 wOut15
bRLQCcw C620/37 wOut16
C701/35
1
bSetSpeedCcw
C701/8
LS_ParFix
C_bTrue 20000 C701/20
C_nPos100_a 20000 C700/19
wSMControl wSMCtrl
C_nNeg100_a 20001 C700/21
C_nPos199_9_a 20002
C_w65535 20004 C700/1 1000
C701/1
C701/2 1001 C621/1 bRelay
bReady bDriveReady
1000 C621/2 bOut1
1002
bCwCcw bSpeedCcw
1004
1005
[7-9] Pre-assignment of the "Actuating drive speed" (AC Drive Profile) application in the "MCI" control mode
________________________________________________________________
LA_NCtrl
C700/10 1
C701/23
C00338 Out =
0 In1
1 In1 + In2
C700/11
1007
C700/12 ±32767
4 (In1 * 1%) (±199.99%)
|In2|
5 (In1 * 100%)
(100% - In2)

C700/13 1008
C00699/2
±32767
(±199.99%)
C701/24
1008
C00720/1 C00720/2
0
C701/25 & 1
2
C701/26 1009
C701/27 4
>1 C00820
0 0 0 C00821/1
0 0 1 C00821/2
0 1 0 C00821/3
...
1 1 1 C00821/8
C00681 C00682
C700/15
f = C00680
C00411/1 C00412 - Bit 0

0 bGPSignalOut1
1010
1
C00411/2 C00412 - Bit 1
0 bGPSignalOut2
1011
1
C00411/3 C00412 - Bit 2
0 bGPSignalOut3
1012
1
C00411/4 C00412 - Bit 3
0 bGPSignalOut4
1013
1
________________________________________________________________
LA_NCtrl
C00410/1 C00413/1 C00413/2
nGPSignalOut1_a
1009
C00410/2 C00413/3 C00413/4

nGPSignalOut2_a
1010
C00410/3 C00413/5 C00413/6

nGPSignalOut3_a
1011
C00410/4 C00413/7 C00413/8

nGPSignalOut4_a
1012

C701/28 1D Q 1022
C701/29 C1
C701/30 R Q 1023

LA_NCtrl
Free In/Out
bGPFree1
C701/21
bGPFree2
C701/21
bFreeIn1 bFreeOut1
C701/41 1029
bFreeIn2 bFreeOut2
C701/42 1030
bFreeIn3 bFreeOut3
C701/43 1031
bFreeIn4 bFreeOut4
C701/44 1032
bFreeIn5 bFreeOut5
Application
C701/45 1033
bFreeIn6 bFreeOut6
C701/46 1034
bFreeIn7 bFreeOut7
C701/47 1035
bFreeIn8 bFreeOut8
C701/48 1036
wFreeIn1 wFreeOut1
C700/26 1023
wFreeIn2 wFreeOut2
C700/27 1024
wFreeIn3 wFreeOut3
C700/28 1025
wFreeIn4 wFreeOut4
C700/29 1026
Related topics:
7.4 TA "Switch-off positioning"
________________________________________________________________
This technology application is only available from version 04.00.00!
The basic principle of this technology application is to travel to a switch-off sensor (e.g. a limit
switch) in a speed-controlled manner and to stop as close as possible at this position. Unlike other
positioning controls, the switch-off positioning neither has a position feedback nor calculates the
path in advance. Thus, the accuracy that can be achieved depends on various factors such as the
speed at which the switch-off sensor is advanced.
In addition, a pre-switch off can be implemented which requires a sufficient number of unassigned
digital inputs on the controller which can be used to connect other sensors for the additional stop
positions. These sensors effect a reduction in speed before the last switch-off sensor is reached.
Features
• Offset, gain, and negation of main setpoint & additional setpoint
• Switch-off sensor management for the implementation of a pre-switch off
Decision criteria
Criteria Switch-off positioning with constant Switch-off positioning with variable

load load
Operating mode V/f characteristic without speed sensor.
Alternatively for large breakaway torques: Use of a sensorless vector control
(only applicable for horizontal movements).
Limit switch evaluation One limit switch is required per One limit switch and an initiator are
direction of movement. required for fast/slow changeover
When the limit switch is reached, the per direction of movement.
drive is brought to a standstill led by When the initiator has been reached,
the deceleration ramp or the QSP the speed of the drive is reduced to a
ramp. creeping speed (fixed setpoint 2) in a
controlled way.
When the limit switch is reached, the
drive is brought to a standstill led by
the deceleration ramp or the QSP
ramp.
________________________________________________________________
Criteria Switch-off positioning with constant Switch-off positioning with variable

load load
Positioning accuracy at the motor The ideal case is 5-10° at the motor 5-10° at the motor shaft. As the
shaft shaft. positioning is executed in a creeping
The positioning accuracy of the load Consider the influence of the motor speed, a good repeat accuracy is
depends, among other things, on the temperature. reached even for variable loads.
clearance and friction of the selected In the case of a constant load, you can
mechanics and has to be determined assume a good repeat accuracy
individually. during positioning. In the case of
variable loads, you must take
significant deviations into account.
Speed setting range 1 : 50, based on 50Hz and Mn 1 : 50, based on 50Hz and Mn
Typical applications Switch-off positioning with constant Switch-off positioning with variable
load, e.g. travelling drive, roll-up load, e.g. travelling drive, conveying
door. belt, hoists approaching a stop
position.
System limits and exclusion criteria

They result from the non-compliance with the decision criteria.
• Compared to systems with speed feedback, the positioning and repeat accuracy is reduced.
• Due to the mechanical hardware limit switches, this concept is only applicable for systems with
only a few fixed positions. Changing the target position during the operation or the teaching is
not possible.
• If necessary, additional functions like manual jog or homing must be realised externally, e.g. via
a control.
• As the 8400 StateLine controller does not meet safety-related functions except STO (Safe
Torque Off), you must observe that all safety-related aspects are realised by the plant instructor.
• Especially in the case of an outdoor use or in wet areas, you must consider the corresponding
discharge currents when operated with a fault current circuit breaker.
• A table positioning or sequential positioning control is required for highly dynamic applications
and jerk-free traversing profiles which is available with the "HighLine" device version.
Related topics:
Commissioning of the "Switch-off positioning" technology application ( 59)
________________________________________________________________
[7-13] Signal flow of the switch-off positioning
 Main speed setpoint offset and gain (L_OffsetGainP_1)

 Additional speed setpoint offset and gain (L_OffsetGainP_2)
 Setpoint generator (L_NSet_1)
 Speed setpoint input limitation
 Terminal assignment & display of digital control signals
 Selection of edge/level for tripping the ramp down and stop functions (L_JogCtrlExtension_1)
 Holding brake control
 Integrated disposable "GeneralPurpose" functions: Analog switch, arithmetic, multiplication/division, binary
________________________________________________________________
7.4.2 Internal interfaces | application block "LA_SwitchPos"
 Note!
Inputs

Data type
wCANDriveControl Control word via system bus (CAN) for device control
WORD • See the "wCANControl/wMCIControl control words" subchapter of the chapter
on device control for a detailed description of the individual control bits.
wMCIDriveControl Control word via communication module (e.g. PROFIBUS) for device control
WORD • See the "wCANControl/wMCIControl control words" subchapter of the chapter
on device control for a detailed description of the individual control bits.
Control Kernel).
• See the subchapter "Interface to safety system" of the chapter on basic drive
functions for a detailed description of the individual control bits.
BOOL
device status if no other source for controller inhibit is active.
"SwitchedOn" device status.
BOOL In the Lenze setting this input is connected to the digital input controller enable so
that a possibly existing error message is reset together with the controller enable (if
the cause for the fault is eliminated).
via C00019.
is active.
stop.
________________________________________________________________

Data type

 Note!
a low rate of wear.
pulse inhibit.
BOOL integrator
input.
• Scaling: 16384 ≡ 1000 V
 Stop!
current!
• Scaling: 16384 ≡ 1000 V
 Stop!
current!
________________________________________________________________

Data type
nTorqueMotLim_a Torque limitation in motor mode and in generator mode

nTorqueGenLim_a • These input signals are directly transferred to the motor control to limit the
INT controller's maximum torque in motor and generator mode.
• Scaling: 16384 ≡ 100 % Mmax (C00057)
TorqueGenLim M
TorqueMotLim
MN
-nN nN n
-MN
TorqueMotLim
TorqueGenLim

rotation.
FALSE Quick stop
TRUE CW rotation
FALSE Quick stop
nMainSetValue_a Main speed setpoint
• The main setpoint is transformed to a speed setpoint in the setpoint encoder via
a ramp function generator with linear or S-shaped ramps.
nAuxSetValue_a Additional speed setpoint
• The additional speed setpoint can be linked arithmetically with the main speed
setpoint behind the ramp function generator.
• The additional speed setpoint can be shown via ramp times of a second ramp
function generator.
________________________________________________________________

Data type
Switch-off positioning
bJogCtrlInputSel1 Selection inputs for a binary coded selection of the switch-off position 1 ... 3
bJogCtrlInputSel2 • Activation of the signal pairs bJogCtrlSlowDown1/bJogCtrlStop1,
BOOL bJogCtrlSlowDown2/bJogCtrlStop2 or bJogCtrlSlowDown3/bJogCtrlStop3
according to the Truth table for activating the pre-switch off.
bJogCtrlRfgIn Ramping down of the setpoint generator in the downstream L_NSet FB according to
BOOL the Truth table for activating the pre-switch off
bJogCtrlJog1 Selection inputs for fixed changeover setpoints (JOG setpoints) for the main setpoint
bJogCtrlJog2 • If the pre-switch off is inactive (bJogCtrlInputSel1 and bJogCtrlInputSel2 are both
BOOL set to FALSE), the two control signals are passed through 1:1 to the downstream
FB L_NSet.
• To achieve the desired behaviour (starting at high speed, pre-switch off at low
speed), both inputs must be set to TRUE.
• Fixed setpoint 2 must be less than fixed setpoint 3!
Otherwise, the drive will start at a low speed and accelerate after the pre-switch
off.
• If in additional to the inputs bJogCtrlJog1 and bJogCtrlJog2 the selection inputs
bJogSpeed4 and bJogSpeed8 are assigned, different fixed setpoints can result
from this and the drive may travel with different speeds than selected via
bJogCtrlJog1 and bJogCtrlJog2.
bJogCtrlSlowDown1 Activation of fixed setpoint 2 in the downstream L_NSet FB
bJogCtrlSlowDown2 • These inputs only have a function if they have been previously activated via
bJogCtrlSlowDown3 bJogCtrlInputSel1 and bJogCtrlInputSel2 (see Truth table for activating the pre-
BOOL switch off).
bJogCtrlStop1 Ramping down of the ramp function generator in the downstream L_NSet FB
bJogCtrlStop2 • These inputs only have a function if they have been previously activated via
bJogCtrlStop3 bJogCtrlInputSel1 and bJogCtrlInputSel2 (see Truth table for activating the pre-
BOOL switch off).
bJogSpeed4 Selection inputs for fixed changeover setpoints (JOG setpoints) for the main setpoint
bJogSpeed8 • A fixed setpoint for the setpoint generator can be activated instead of the main
BOOL setpoint via these selection inputs.
• The selection inputs are binary coded.
bJogRamp1 ... bJogRamp8 Selection inputs for alternative acceleration/deceleration times for the main
BOOL setpoint
• The four selection inputs are binary coded, therefore 15 alternative
acceleration/deceleration times can be selected.
• For main setpoint nMainSetValue_a, the set acceleration time (C00012) and
deceleration time (C00013) are active in the case of the binary coded selection "0"
(all inputs = FALSE or not assigned).
MCK basic functions
FALSE Apply brake.
brake.
• Note!
deactivated.
________________________________________________________________

Data type
GP: GeneralPurpose
BOOL
BOOL

TRUE.
bGPDFlipFlop_InClr
BOOL
Free inputs
BOOL

WORD
dnFreeIn1_p ... dnFreeIn2_p Free inputs for 32-bit signals

DINT
Outputs
Data type
wDriveControlStatus Status word of the controller

controller.
• See the "wDeviceStatusWord status word" subchapter of the chapter on device
control for a detailed description of the bit assignment.
WORD
________________________________________________________________
Data type

WORD

bWarningActive TRUE A monitoring in the drive controller, for which the error response
BOOL "Warning" or "Warning locked" has been parameterised, responded.
bSafeTorqueOff TRUE Safe torque off.
BOOL • "SafeTorqueOff" device status is active.
BOOL
bImpIsActive TRUE Pulse inhibit is active.

BOOL

BOOL

BOOL
BOOL
BOOL
BOOL
BOOL

• Scaling: 16384 ≡ 100 % Mmax (C00057)
INT • Scaling: 16384 ≡ 1000 V
INT • Scaling: 16384 ≡ 1000 V
________________________________________________________________
Data type
MCK basic functions

FALSE Apply brake.
TRUE Release brake.
GP: GeneralPurpose
INT

INT

INT

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL
Free outputs
BOOL

WORD
dnFreeOut1_p Free outputs for 32-bit signals

dnFreeOut2_p
WORD
________________________________________________________________
7.4.2.1 Truth table for activating the pre-switch off
Input Function Response in the setpoint generator

bJogCtrl bJogCtrl (FB L_NSet)
InputSel1 InputSel2
FALSE FALSE Pre-switch off inactive No response
• The input signal bJogCtrlRfgIn is output
directly at output bRfgOut.
• The input signals bJogCtrlJog1 and
bJogCtrlJog2 are passed through 1:1 to
the downstream FB L_NSet for the
selection of fixed setpoints.
TRUE FALSE The bJogCtrlSlowDown1 and Pre-switch off can be activated
bJogCtrlStop1 inputs are evaluated. • If the slowdown function is activated via
FALSE TRUE The bJogCtrlSlowDown2 and the selected bJogCtrlSlowDown input,
bJogCtrlStop2 inputs are evaluated. fixed setpoint 2 is activated in the
setpoint generator.
TRUE TRUE The inputs bSJogCtrllowDown3 and • If the stop function is activated via the
bJogCtrlStop3 are evaluated. selected bJogCtrlStop input, the setpoint
generator is deactivated.
[7-1] Truth table for activating the pre-switch off
________________________________________________________________
7.4
7
The following comparison provides information about which inputs/outputs of the application block LA_SwitchPos are interconnected to the
digital and analog input/output terminals of the drive controller in the different control modes.
TA "Switch-off positioning"
X4/RFR Controller enable Controller enable / Reset of error message
bFailReset
X4/DI1 Fixed setpoint 1/3 Stop function 1 Fixed setpoint 1/3 - - Stop function 1
bJogCtrlJog1 bJogCtrlStop1 bJogCtrlJog1 bJogCtrlStop1
X4/DI2 Fixed setpoint 2/3 Stop function 2 Selection: Pre-switch off Fixed setpoint 2/3 - - Selection: Pre-switch off 1
bJogCtrlJog2 bJogCtrlStop2 1 bJogCtrlJog2 bJogCtrlSlowDown 1
bJogCtrlSlowDown 1
X4/DI3 Reset error message CW rotation quick stop CW rotation quick stop - - Stop function 2
bFailReset bRLQCw bRLQCw bJogCtrlStop2
Selection: Switch-off position 1
bJogCtrlInputSel1
X4/DI4 Change of direction of CCW rotation quick stop CCW rotation quick stop - - Selection: Pre-switch off 2
rotation bRLQCcw bRLQCcw bJogCtrlSlowDown 2
bSetSpeedCcw Selection: Switch-off position 2
bJogCtrlInputSel2
X3/A1U, A1I Main speed setpoint - - Additional speed setpoint
nMainSetValue_a nAuxSetValue_a
10 V ≡ 100 % reference speed (C00011) 10 V ≡ 100 % reference speed (C00011)
X4/DO1 - - - - - - - -
X101/COM, NO - - - - - - - -
X3/O1U - - - - - - - -
369
________________________________________________________________
7.4.3.1 Terminals 0
X101
COM
NC
NO
X3
Speed setpoint AR
A1U
A1I
GA
O1U
External
supply X4
+ 24E
24 V DC =
24I
Controller enable RFR
Reset error DI3
DO1
GIO
CG
CH
CL
X1

X101/NC-NO LA_SwitchPos.bDriveFail
X4/RFR - X3/A1U LA_SwitchPos.nMainSetValue_a *

X4/DI1 LA_SwitchPos.bJogCtrlJog1 X3/A1I -
X4/DI2 LA_SwitchPos.bJogCtrlJog2 X3/O1U -
X4/DI3 LA_SwitchPos.bFailReset * 10 V ≡ 100 % reference speed (C00011)
X4/DI4 LA_SwitchPos.bSetSpeedCcw X4/DO1 LA_SwitchPos.bDriveReady
________________________________________________________________
7.4.3.2 Terminals 2
X101
COM
NC
NO
X3
Speed setpoint AR
A1U
A1I
GA
O1U
External
supply X4
+ 24E
24 V DC =
24I
Stop function 1 DI1
Stop function 2 DI2
DO1
GIO
CG
CH
CL
X1

X4/RFR LA_SwitchPos: bFailReset X3/A1U LA_SwitchPos.nMainSetValue_a *

X4/DI1 LA_SwitchPos: bJogCtrlStop1 X3/A1I -
X4/DI2 LA_SwitchPos: bJogCtrlStop2 X3/O1U -
X4/DI3 LA_SwitchPos: bRLQCw * 10 V ≡ 100 % reference speed (C00011)
LA_SwitchPos: bJogCtrlInputSel1
X4/DI4 LA_SwitchPos: bRLQCcw X4/DO1 LA_SwitchPos.bDriveReady
________________________________________________________________
X101
COM
NC
NO
X3
Speed setpoint AR
A1U
A1I
GA
O1U
External
supply X4
+ 24E
24 V DC =
24I
Stop function 1 DI1
Selection of pre-switch off 1 DI2
DO1
GIO
CG
CH
CL
X1


X4/DI2 LA_SwitchPos: bJogCtrlSlowDown1 X3/O1U -
________________________________________________________________
7.4.3.4 Terminal 16
X101
COM
NC
NO
X3
Speed setpoint AR
A1U
A1I
GA
O1U
External
supply X4
+ 24E
24 V DC =
24I
CW rotation quick stop DI3
CCW rotation quick stop DI4
DO1
GIO
CG
CH
CL
X1


X4/DI1 LA_SwitchPos: bJogCtrlJog1 X3/A1I -
X4/DI2 LA_SwitchPos: bJogCtrlJog2 X3/O1U -
________________________________________________________________
7.4.3.5 Keypad
X101
COM
NC
NO
X3
AR
A1U
A1I
GA
O1U
External
supply X4
+ 24E
24 V DC =
24I
DI1
DI2
DI3
DI4
DO1
GIO
CG
CH
CL
X1

X4/RFR LA_SwitchPos.bFailReset X3/A1U -

X4/DI1 - X3/A1I -
X4/DI2 - X3/O1U -
X4/DI3 -
X4/DI4 - X4/DO1 LA_SwitchPos.bDriveReady
________________________________________________________________
7.4.3.6 PC
X101
COM
NC
NO
X3
AR
A1U
A1I
GA
O1U
External
supply X4
+ 24E
24 V DC =
24I
DI1
DI2
DI3
DI4
DO1
GIO
CG
CH
CL
X1

X4/RFR LA_SwitchPos.bFailReset X3/A1U -

X4/DI1 - X3/A1I -
X4/DI2 - X3/O1U -
X4/DI3 -
X4/DI4 - X4/DO1 LA_SwitchPos.bDriveReady
________________________________________________________________
7.4.3.7 CAN
X101
COM
NC
NO
X3
A1U
A1I
GA
O1U
External
supply X4
+ 24E
24 V DC =
24I
Stop function 1 DI1
Stop function 2 DI3
DO1
GIO
-
CG
CH
CL

wIn3 -
X1 wOut3 GPSignalOut1
wOut4 -

X4/RFR LA_SwitchPos: bFailReset X3/A1U LA_SwitchPos.nAuxSetValue_a *

X4/DI3 LA_SwitchPos: bJogCtrlStop2 * 10 V ≡ 100 % reference speed (C00011)
X4/DI4 LA_SwitchPos: bJogCtrlSlowDown2 X4/DO1 LA_SwitchPos.bDriveReady
 Note!
You must set the setpoint arithmetic in C00190 to "1: NOut = NSet + NAdd" so that the
additional speed setpoint selected via the analog input A1U has an additive effect.
________________________________________________________________
7.4.3.8 MCI
X101
COM
NC
NO
X3
A1U
A1I
GA
O1U
External
supply X4
+ 24E
24 V DC =
24I
Stop function 1 DI1
Stop function 2 DI3
DO1
GIO
CG
CH
CL
X1
LP_MciIn LP_MciOut
wIn3...16 - wOut3 GPSignalOut1
wOut4...16 -

X4/RFR LA_SwitchPos: bFailReset X3/A1U LA_SwitchPos.nAuxSetValue_a *

X4/DI3 LA_SwitchPos: bJogCtrlStop2 * 10 V ≡ 100 % reference speed (C00011)
X4/DI4 LA_SwitchPos: bJogCtrlSlowDown2 X4/DO1 LA_SwitchPos.bDriveReady
 Note!
You must set the setpoint arithmetic in C00190 to "1: NOut = NSet + NAdd" so that the
additional speed setpoint selected via the analog input A1U has an additive effect.
________________________________________________________________

• "40: MCI" for the connection to a plugged-on communication module (e.g. PROFIBUS)
used:

Word 2 MainSetValue Speed setpoint

• This bit must be set in the CAN/MCI control word to ensure
that the device changes to the "SwitchedOn" device status
after mains connection without the need for a master control
specifying this bit via fieldbus.
• If control via a bus system is not wanted (e.g. in the case of
control via terminals), the wDriveCtrl output signal of the
LS_ParFix system block can be connected to the control word
inputs.
Bit 2 SetQuickStop 1 ≡ Activate quick stop (QSP).
• If control via terminals is performed, this bit must be set both
in the CAN control word and in the MCI control word.
Otherwise, the controller is inhibited.
Enable/Inhibit controller ( 80)
Bit 5 JogCtrlInputSel1 Binary coded selection of the switch-off position 1 ... 3
Bit 6 JogCtrlInputSel2 • Activation of the signal pairs
bJogCtrlSlowDown1/bJogCtrlStop1,
bJogCtrlSlowDown2/bJogCtrlStop2 or
bJogCtrlSlowDown3/bJogCtrlStop3 according to the Truth
table for activating the pre-switch off.
• Acknowledge error message (if the error cause has been
eliminated).
Reset error ( 82)
Bit 8 bJogCtrlRfgIn Ramping down of the setpoint generator in the
downstream L_NSet FB according to the Truth table for
activating the pre-switch off
Bit 10 reserved_2
________________________________________________________________

Bit 11 MBrkRelease Holding brake control:
0 ≡ Apply brake
1 ≡ Release brake
• In conjunction with the operating mode selected in C02580
Bit 12 JogCtrlJog1 Binary coded selection of the fixed setpoints (JOG setpoints)
Bit 13 JogCtrlJog2
Bit 15 SetSpeedCcw 0 ≡ Direction of rotation to the right (Cw)

Word 2 MotorSpeedAct Actual speed value
Word 3 GPSignalOut1 Analog signal monitor: Output signal 1
• The selection of the signal source to output is executed in
C00410/1.
• Gain and offset for the output signal can be parameterised in
C00413/1 and C00413/2.
• For a detailed functional description see
the L_SignalMonitor_a FB.

Bit 0 DriveFail 1 ≡ Drive controller in error status
• "Fault" device status is active.
Bit 2 DriveReady 1 ≡ Drive controller is ready for operation
• "SwitchedOn" device status is active.
• The drive is in this device status if the DC bus voltage is
applied and the controller is still inhibited by the user
(controller inhibit).
Bit 3 SpeedCcw 0 ≡ Direction of rotation to the right (Cw)
Bit 4 QSPIsActive 1 ≡ Quick stop is active
Bit 5 BrakeReleased 1 ≡ Brake released (after the brake opening time has elapsed)
________________________________________________________________

Bit 14 JogCtrlInputSel1 Binary coded selection of the switch-off position 1 ... 3
Bit 15 JogCtrlInputSel2 • Bit 5 and bit 6 of the control word.

Value Unit

C00039/4...15 Fixed setpoint 4 ... 15 0.00 %
C00101/1...15 Add. accel. time 1 ... 15 0.000 s
C00103/1...15 Add. decel. time 1 ... 15 0.000 s
C00488/1 InputSens.SlowDown1 0: Level
C00488/2 InputSens.Stop1 0: Level
________________________________________________________________

Value Unit

C02610/2 MCK: Ramp time synchr. setpoint 2.000 s
C02611/1 MCK: Pos. max. speed 199.99 %
C02611/2 MCK: Pos. min. speed 0.00 %
C02611/3 MCK: Neg. min. speed 0.00 %
C02611/4 MCK: Neg. max. speed 199.99 %
Related topics:
________________________________________________________________
LA_SwitchPos
L_JogCtrlExtension_1
bJogCtrlInputSel1 bInputSel1
C761/9
bJogCtrlInputSel2 bInputSel2
C761/10
bJogCtrlRfgIn bRfgIn bRfgOut
C761/11
bJogCtrlJog1 bJog1In bJog1Out
C761/12
bJogCtrlJog2 bJog2In bJog2Out
C761/13
bJogCtrlSlowDown1 bSlowDown1
C761/14
bJogCtrlStop1 bStop1
C761/15
C761/16
C761/17
C761/18
C761/19
LS_AnalogInput nMainSetValue_a L_NSet_1

nIn1_a 16000 C760/8 L_OffsetGainP_1 nNSet_a nNOut_a
bCurrentErrorIn1 16011 ...
bRfgIEq0 bSpeedSetReached
1 1210
bRFG_Stop bRfgStop
C761/5 nSetValue_a
bSpeedActEqSet
bRfg0
a
bJog1 |a|=|b| 1211
bJog2 b
bJogSpeed4 bJog4
C761/20
bJogSpeed8 bJog8
C761/21
bJogRamp1 bTi1
C761/22
bJogRamp2 bTi2
C761/23
bJogRamp4 bTi4
C761/24
bJogRamp8 bTi8
C761/25
C760/9 L_OffsetGainP_2 nNAdd_a
nAuxSetValue_a bNSetInv
LS_ParFree_a
C472/1 nPar1_a 20010 LS_MotorInterface
C472/2 20011 1205
C472/3 20012 C760/6 1206
C472/4 20013 C760/7 1209
C760/3 1203
C760/4 1207
1208
LS_DigitalInput 1206 LS_DigitalOutput
bIn1 16000 C621/1 bRelay
bIn2 16001 LS_MotionControlKernel C621/2 bOut1
bIn3 16002 C761/4 1204
bIn4 16003 C761/3 1212
C761/7
RLQ
bRLQCcw
C761/8
1
bSetSpeedCcw
LS_ParFix C761/6
C_bTrue 20000
C_nPos100_a 20000 C761/26
C_nNeg100_a 20001 C760/5
wSMControl wSMCtrl
C_nPos199_9_a 20002 C760/17
C_nNeg199_9_a 20003
C_w65535 20004 LS_DriveInterface
C_wDriveCtrl 20005 C760/1 1200
C760/2 1201
bCInh bCInh wStateDetermFailNoHigh wStateDetermFailNoHigh
C761/1 1202
C761/2 1200
bWarning bWarningActive
1201
bSafeTorqueOff bSafeTorqueOff
1202
bReady bDriveReady
1203
1204
bImpIsActive bImpIsActive
1205
bCwCcw bSpeedCcw
1207
1208
[7-14] Pre-assignment of the "Switch-off positioning" application in the "Terminals 0" control mode
________________________________________________________________
LA_SwitchPos
C760/11 1
C761/27
C00338 Out =
0 In1
1 In1 + In2
C760/12
1210
C760/13 ±32767
4 (In1 * 1%) (±199.99%)
|In2|
5 (In1 * 100%)
(100% - In2)

C760/14 1211
C00699/2
±32767
(±199.99%)
C761/28
1214
C00720/1 C00720/2
0
C761/29 & 1
2
C761/30 1215
C761/31 4
>1 C00820
0 0 0 C00821/1
0 0 1 C00821/2
0 1 0 C00821/3
...
1 1 1 C00821/8
C00681 C00682
C760/16
f = C00680
C00411/1 C00412 - Bit 0

0 bGPSignalOut1
1219
1
C00411/2 C00412 - Bit 1
0 bGPSignalOut2
1220
1
C00411/3 C00412 - Bit 2
0 bGPSignalOut3
1221
1
C00411/4 C00412 - Bit 3
0 bGPSignalOut4
1222
1
________________________________________________________________
LA_SwitchPos
C00410/1 C00413/1 C00413/2
nGPSignalOut1_a
1212
C00410/2 C00413/3 C00413/4

nGPSignalOut2_a
1213
C00410/3 C00413/5 C00413/6

nGPSignalOut3_a
1214
C00410/4 C00413/7 C00413/8

nGPSignalOut4_a
1215

C761/32 1D Q 1217
C761/33 C1
C761/34 R Q 1218

LA_SwitchPos
Free In/Out
bFreeIn1 bFreeOut1
C761/40 1228
bFreeIn2 bFreeOut2
C761/41 1229
bFreeIn3 bFreeOut3
C761/42 1230
bFreeIn4 bFreeOut4
C761/43 1231
bFreeIn5 bFreeOut5
C761/44 1232
bFreeIn6 bFreeOut6
C761/45 1233
bFreeIn7 bFreeOut7
C761/46 1234
bFreeIn8 bFreeOut8
Application
C761/47 1235
wFreeIn1 wFreeOut1
C760/22 1221
wFreeIn2 wFreeOut2
C760/23 1222
wFreeIn3 wFreeOut3
C760/24 1223
wFreeIn4 wFreeOut4
C760/25 1224
dnFreeIn1_p dnFreeOut1_p
1205
dnFreeIn2_p dnFreeOut2_p
1206
Related topics:
7.5 "GeneralPurpose" functions
________________________________________________________________
Each technology application provides different free logic and arithmetic functions, so-called
"GeneralPurpose" functions.
For the interconnection of these functions, the application block features inputs and outputs on the
I/O level, which are linked to the logic/arithmetic function.
 Note!
In the Lenze setting, the connectors for the "GeneralPurpose" functions are hidden in the
function block editor.
 Tip!
The inputs of the "GeneralPurpose" functions can also be linked to other output signals via
the configuration parameters of the technology application.
On the other hand, the outputs of the "GeneralPurpose" functions can be selected in the
configuration parameters of other inputs.
Related topics:
TA "Actuating drive speed": Configuration parameters ( 322)
TA "Switch-off positioning": Configuration parameters ( 382)
7.5.1 Analog switch
This function switches between two analog input signals. The switch-over is controlled by a boolean
input signal.
0 nGPAnalogSwitchOut_a
C00833/13 1
bGPAnalogSwitchSet
[7-18] GeneralPurpose function "Analog switch"
• For a detailed functional description see FB L_AnalogSwitch.
________________________________________________________________
7.5.2 Arithmetic
This function links two analog signals arithmetically. The arithmetic function can be parameterised.
C00338 Out =
0 In1
1 In1 + In2
±32767
4 (In1 * 1%) (±199.99%)
|In2|
5 (In1 * 100%)
(100% - In2)
[7-19] GeneralPurpose function "Arithmetic"

Value Unit
C00338 L_Arithmetik_1: Function 0: nOut_a = nIn1_a

• For a detailed functional description see the L_Arithmetik FB.
7.5.3 Multiplication/Division
This function multiplies an analog input signal with a parameterisable factor. The factor must be
selected in the form of a quotient (numerator and denominator).

C00699/2
±32767
(±199.99%)
[7-20] GeneralPurpose function "Multiplication/division"

Value Unit
C00699/1 L_MulDiv_1: Numerator 0

C00699/2 L_MulDiv_1: Denominator 10000
• For a detailed functional description see FB L_MulDiv.
________________________________________________________________
7.5.4 Binary delay element
This function timely delays binary signals. On-delay and off-delay can be parameterised separately.
C00720/1 C00720/2
[7-21] GeneralPurpose function "Binary delay element"

Value Unit
C00720/1 L_DigitalDelay_1: On delay 0.000 s

C00720/2 L_DigitalDelay_1: Off delay 0.000 s
• For a detailed functional description see FB L_DigitalDelay.
7.5.5 Binary logic
This function provides a binary output signal which is formed by a logic operation of the input
signals. Alternatively, you can also select a fixed binary value which is independent of the input
signals.
0
& 1
2
4
>1 C00820
0 0 0 C00821/1
0 0 1 C00821/2
0 1 0 C00821/3
...
1 1 1 C00821/8
[7-22] GeneralPurpose function "Binary logic"

Value Unit
C00820 L_DigitalLogic_1: Function 0: bOut = 0

C00821/1 bIn1=0/bIn2=0/bIn3=0 0: FALSE
C00821/... ... ...
C00821/8 bIn1=1/bIn2=1/bIn3=1 0: FALSE
• For a detailed functional description see FB L_DigitalLogic.
________________________________________________________________
7.5.6 Analog comparison
This function compares two analog signals and can be used e.g. to realise a trigger. The comparison
operation, hysteresis and window size can be parameterised.
C00681 C00682
bGPCompareOut
f = C00680
[7-23] GeneralPurpose function "Analog comparison"

Value Unit
C00680 L_Compare_1: Fct. 6: |In1| < |In2|

C00681 L_Compare_1: Hysteresis 0.50 %
C00682 L_Compare_1: Window 2.00 %
• For a detailed functional description see FB L_Compare.
7.5.7 Binary signal monitor
This function serves to output four binary signals selected from a list of all binary output signals
available in the drive controller. You can set an inversion of the output signals.
C00411/1 C00412 - Bit 0

0 bGPSignalOut1
1
C00411/2 C00412 - Bit 1
0 bGPSignalOut2
1
C00411/3 C00412 - Bit 2
0 bGPSignalOut3
1
C00411/4 C00412 - Bit 3
0 bGPSignalOut4
1
[7-24] GeneralPurpose function "Binary signal monitor"

Value Unit
C00411/1...4 L_SignalMonitor_b: Signal 1 ... 4 0: Not connected

C00412 L_SignalMonitor_b: Inversion Bit coded
• For a detailed functional description see FB L_SignalMonitor_b.
________________________________________________________________
7.5.8 Analog signal monitor
This function serves to output four analog signals selected from a list of all analog output signals
available in the drive controller. Offset and gain of the source signals can be adjusted.
C00410/1 C00413/1 C00413/2

nGPSignalOut1_a
C00410/2 C00413/3 C00413/4

nGPSignalOut2_a
C00410/3 C00413/5 C00413/6

nGPSignalOut3_a
C00410/4 C00413/7 C00413/8

nGPSignalOut4_a
[7-25] GeneralPurpose function "Analog signal monitor"

Value Unit
C00410/1...4 L_SignalMonitor_a: Signal 1 ... 4 0: Not connected

C00413/1 L_SignalMonitor_a: Signal 1 offset 0.00 %
C00413/2 L_SignalMonitor_a: Signal 1 gain 100.00 %
• For a detailed functional description see the L_SignalMonitor_a FB.
7.5.9 D-FlipFlop
This function saves the logic status of the data input (1D) in case of an active clock edge at the clock
input (C1) and puts out its value in sequence at the output Q. If there is no active clock edge, the
input value is not accepted.

1D Q
C1
R Q
[7-26] GeneralPurpose function "D-FlipFlop" (clock-edge controlled)
• For a detailed functional description see FB L_DFlipFlop.
8 Basic drive functions (MCK)
________________________________________________________________

In this chapter, the standard and basic drive functions integrated in the Motion Control Kernel
(MCK) of the 8400 StateLine are described to which the active technology application can gain
access via defined internal interfaces. As a result, the time-consuming creation of individual FB
interconnections is avoided and the amount of work and complexity involved in the
implementation of standard functions is minimised.
In the Motion Control Kernel, for example, an automatic holding brake control function is
integrated which controls the holding brake in relation to the speed setpoint and various other
internal control signals. Due to integrated automatic brake operation, the user is relieved of the task
of managing these control signals.
8.1 Basic signal flow
________________________________________________________________
8.1 Basic signal flow
The Motion Control Kernel is connected between setpoint generator (e.g. ramp generator, PID
process controller, etc.) and the motor control function in the case of the available technology
applications. For problem-free interaction of the Motion Control Kernel and motor control function,
the two associated system blocks LS_MotionControlKernel and LS_MotorInterface have interfaces
with corresponding inputs/outputs. These are visible in the FB Editor for monitoring purposes and
must be connected to each other:
[8-1] Interconnection of Motion Control Kernel and motor control function
8.2 Internal interfaces | System block "LS_MotionControlKernel"
________________________________________________________________
In the interconnection previously shown, the Motion Control Kernel monitors every interface. Some
of the signals such as a quick stop request or a DC-injection braking request are directly passed
through to the motor control. However, other signals are passed through or modified depending on
the operating mode (e.g. synchronising a setpoint selection via ramp function).
In the Function Block editor, the system block LS_MotionControlKernel provides the interfaces to
the Motion Control Kernel.
Inputs

Data type
Control and setpoint signals for motor control

The purpose of the following inputs is to transfer control signals and setpoints to the internal motor control
function (LS_MotorInterface).
bPosCtrlOn Inputs of 8400 StateLine have no function!
bDeltaPosOn
dnDeltaPos_p
dnPosSetValue_p
bPosDerivativeOn
bMotorRefOffsetOn
dnMotorRefOffset_p
bQspOn Trigger quick stop (QSP) via the MCK
via C00019.
• The motor is kept at a standstill during closed-loop operation
(function in preparation).
is active.
stop.
nPWMAngleOffset Angular offset input
INT • Scaling: 16384 ≡ 100 %
• Setting range: 0 ... 199.99 %
bSpeedCtrlIOn Directly set the I-component of speed controller
BOOL • In order to statically specify a minimum torque, e.g. when a load is being lifted.
TRUE Se the I-component of the speed controller to the value
nSpeedCtrlI_a.
nSpeedCtrlI_a I-component of the speed controller
INT • Value is adopted in the case of a FALSE-TRUE edge at the input bSpeedCtrlIOn.
nSpeedSetValue_a Rotation speed/velocity setpoint
INT
bTorquemodeOn TRUE Switch on torque-controlled operation

BOOL
nTorqueSetValue_a Torque setpoint

INT
________________________________________________________________

Data type
bDcBrakeOn Manual DC-injection braking (DCB)

BOOL • For this function, the bDcBrakeOn_ output signal must be connected to the
bDcBrakeOn input of the same name of the LS_MotorInterface system block.
• Detailed information on DC-injection braking is provided in the motor control
 Note!
a low rate of wear.
pulse inhibit.
bTorqueLimitAdaptOn Inputs of 8400 StateLine have no function!
nTorqueLimitAdapt_a
Control words
MCK: wMotionCtrl1 Inputs of 8400 StateLine have no function!
wMotionCtrl2
wAuxCtrl
wSMCtrl Interface to the optional safety system.
Control Kernel).
• See the "Interface to safety system" subchapter for a detailed description of the
individual control bits.
Control and setpoint signals for Motion Control Kernel function
dnProfilePosition_p Inputs of 8400 StateLine have no function!
nSpeedAddValue_v
nSpeedOverride_a
nAccOverride_a
nSRampOverride_a
bLimitSwitchPos
bLimitSwitchNeg
bHomingMark
bMBrakeRelease Holding brake control:
BOOL Releasing/applying the brake in connection with the selected operating mode
FALSE Apply brake.
brake.
• Note!
deactivated.
________________________________________________________________

Data type
bMBrakeStartValue2 Holding brake control:

BOOL Selection of the torque feedforward control value
Feedforward control of the motor before release
FALSE Starting value 1 is active (see the following figure).
TRUE Starting value 2 is active (see the following figure).
Creation of the feedforward control value for the release process of the brake:
 Signal path for motor control with feedback
 Signal path for motor control without feedback
 Feedforward control value
bBrakeStartValue2
0 S&H (Retain)
C02582 - Bit 4
nMotorTorqueAct_a TorqueValue1 0
(+)nSetSpeed 1 nBrkAddValue_a
2
(-)nSetSpeed
T = 4 ms
TorqueValue2 0
1
1 nSpeedSetValue_a
Release brake
C02581/4
C02581/5
Close brake
0 t
 C02581/1: Switching threshold
 C02581/2: Hysteresis for release
 C02581/3: Hysteresis for application
 C02581/4: Starting value 1 for manual feedforward control
 C02581/5: Starting value 2 for manual feedforward control
 C02582/Bit 4: Selection of the feedforward control value (automatic/manual
selection)
nMBrakeAddValue_a Holding brake control:
INT Additive feedforward control value (speed or torque) in [%] for torque feedforward
control when the respective control mode is started
• For speed control: 100 % ≡ reference speed (C00011)
• For torque control: 100 % ≡ maximum torque (C00057)
bMBrakeApplied Holding brake control:
BOOL Input for status detection via switching contacts at the brake
• Only effective if bit 5 in C02582 is set to "1".
FALSE Brake is released.
TRUE Brake is applied.
________________________________________________________________
Outputs
Data type
Control and setpoint signals for motor control

The following outputs are used to transfer control signals and setpoints to the internal motor control function
(LS_MotorInterface).
bPosCtrlOn_ Outputs of 8400 StateLine have no function!
bDeltaPosOn_
dnDeltaPos_p_
dnPosSetValue_p_
bPosDerivativeOn_
bMotorRefOffsetOn_
dnMotorRefOffset_p_
bQspOn_ TRUE Activate quick stop
BOOL
nPWMAngleOffset_a_ Angular offset input

INT
bSpeedCtrlIOn_ TRUE Set I-component of speed controller.

BOOL
nSpeedCtrlI_a_ I-component of the speed controller

INT
nSpeedSetValue_a_ Main setpoint of speed

INT
bTorqueModeOn_ TRUE Switch on torque-guided operation.

BOOL
nTorqueSetValue_a_ Torque setpoint

INT
bDcBrakeOn_ TRUE Activate DC-injection braking.

BOOL
bTorqueLimitAdaptOn_ Outputs of 8400 StateLine have no function!

nTorqueLimitAdapt_a_
Status words
wMotionState1 MCK status word 1 & 2
wMotionState2 • For a detailed description of the individual status bits, see subchapter entitled
WORD "MCK status word.
wAuxState Output of 8400 StateLine have no function!
Status signal and actual-value signals from Motion Control Kernel functions
nSpeedSet_v Outputs of 8400 StateLine have no function!
dnPosTarget_p
dnPosSet_p
dnPosSetRelative_p
wActProfileNo
wFollowProfileNo
bBusy
bDone
bHomingDone
bHomePosAvailable
________________________________________________________________
Data type
bMBrakeReleaseOut Trigger signal for switching element holding brake control via a digital output
BOOL • Use bit 0 in C02582 to activate inverted switching element triggering.
Holding brake control
FALSE Apply brake.
TRUE Release brake.
bMBrakeReleased "Brake released" status signal considering the brake release time
________________________________________________________________
8.2.1 MCK status word
MCK status word 1 (wMotionState1)
Bit Designation Description

0 ActOpModeBit00 Active operating mode Bit 3 Bit 2 Bit 1 Bit 0
... ... Speed follower 0 0 0 0
3 ActOpModeBit03
Safe stop 1 (SS1) 0 1 0 0
StandBy (internal operating mode in the event of 1 1 1 1
quick stop, pulse inhibit, and DC-injection braking)
4 Busy For 8400 StateLine no function (always "0")!
5 Done
6 AcceleratingActive
7 ConstSpeedDuty
8 DeceleratingActive
9 S_ShapingActive
10 Pos. HW-Limit
Detected
11 Neg. HW-Limit
Detected
12 HomPosDone
13 HomPosAvailable
14 Reserved -
15 Reserved -
 Note!
The internal "StandBy" operating mode is assumed if pulse inhibit, quick stop and/or DC-
injection braking are activated.
• No setpoint generation via the Motion Control Kernel in this operating mode.
• If the holding brake control sets a controller inhibit when the holding brake is closed,
the internal "StandBy" operating mode is not assumed.
MCK status word 2 (wMotionState2)

16 DwellTime For 8400 StateLine no function (always "0")!
17 InTarget
18 PosDone
19 Reserved
20 ActPosMode_Bit00
... ...
23 ActPosMode_Bit03
24 ActProfileNo_Bit00
... ...
31 ActProfileNo_Bit07
________________________________________________________________
8.2.2 MCK state machine
Prio Condition
1
Setpoint generation through Motor control (MCTRL): '&%
• DCB = DC-injection braking
463

• QSP = quick stop
&,1+
• CINH = controller inhibit
2 "Safe stop 1" (SS1) requested '&%
Interface to safety system
463
&,1+
6DIH6WRS
3 Speed follower requested
6WDQG%\ 6SHHG)ROORZHU

6DIH6WRS

[8-2] MCK state machine
8.2.2.1 "StandBy" operating mode

The internal "StandBy" operating mode is implicitly assumed if controller inhibit, pulse inhibit, quick
stop and/or DC-injection braking are activated. Thus, there is no setpoint generation by the Motion
Control Kernel in the "StandBy" operating mode.
• If the holding brake control sets a controller inhibit when the holding brake is closed, the
internal "StandBy" operating mode is not assumed.
• The "StandBy" operating mode cannot be activated via the MCK control word.
• When the "StandBy" operating mode is active, bits 0 ... 3 are set in the MCK status word.
Speed acceptance when the "StandBy" operating mode is quit

If the operating mode is changed from "StandBy" to "SpeedFollower", not only controller inhibit,
pulse inhibit, quick stop and/or DC-injection braking are cancelled but also the current speed is
transferred to the speed setpoint if Flying restart function is activated.
From version V12.00.00 onwards, a sensitive threshold can be set in C2611/5. If the absolute value
of the current speed is below the sensitivity threshold, the value "0" is transferred to the speed
setpoint instead of the current speed.
In the Lenze setting "0.5 %", the sensitivity threshold corresponds to approx. 7.5 rpm at a reference
speed of 1500 rpm set in C00011.
________________________________________________________________
8.2.3 Interface to safety system
For operation with optional safety system, the LS_MotionControlKernel system block has the
wSMCtrl input, This interface is used to transfer a control word by means of which the Motion
Control Kernel can be supplied with information on requested or active safety functions. The
Motion Control Kernel then initiates the necessary motion sequence (e.g. braking).
At the moment, only bit 0 in the wSMCtrl control word has a function. Additional functions are in
preparation:

0 SafeStop1 "1" ≡ Request for "Safe Stop 1" (SS1).
1 Reserved In preparation - Still without function!
...
15
Behaviour in case of request for "Safe Stop 1" (SS1)

The drive is brought to a standstill with the stopping ramp set in C02610/3.
• The time set in C02610/3 refers to the down-

SS1
ramping of the reference speed set in C00011.
n C02610/3
C00011
• If the current speed is lower, the time to
standstill is accordingly lower as well.
[8-3] Ramping down to standstill
If the request is reset during the down-ramping process (bit 0 = "10"), the behaviour depends on
the active operating mode:
• In the "Speed follower" operating mode, direct synchronisation with the target speed takes
place with the ramp time set in C02610/2.
8.3 Speed follower
________________________________________________________________
8.3 Speed follower
The 8400 StateLine controller only supports the "speed follower" operating mode where the drive
follows a speed setpoint.
8.3.1 Parameter setting
Short overview of parameters for the "speed follower" operating mode:

Value Unit
C02610/2 MCK: Ramp time synchr. setpoint 2.000 s

C02611/1 MCK: Pos. max. speed 199.99 %
C02611/2 MCK: Pos. min. speed 0.00 %
C02611/3 MCK: Neg. min. speed 0.00 %
C02611/4 MCK: Neg. max. speed 199.99 %
In the »Engineer», you can set the initial limit by means of the dialog box Min/Max speed.
• Open the Min/max speed dialog box by opening the Application Parameters tab and clicking on
the following button on the dialog level Overview  Signal flow:
8.3 Speed follower
________________________________________________________________
8.3.2 Setpoint selection
The speed setpoint is selected via the nSpeedSetValue_a process input and additively via the
nSpeedAddValue_v process input.
• Usually, the ramp generator L_NSet and, optionally, the process controller L_PCTRL are
upstream of the nSpeedSetValue_a process input.
• The speed setpoint is limited internally to the speed limits set in C02611/1...4.
Speed setpoint generation

When the speed limit values are set, the Motion Control Kernel influences the setpoint generation
with a synchronisation mode The synchronisation mode serves to travel the synchronisation range
dynamically with the synchronisation ramp set in C02610/2:
nSpeedSetValue_a nSpeedSetValue_a_
v
C02611/1
0
C02611/2
Sync
C02610/2 C02
1
610
/2
t
Sync
C02611/3
C02611/4
 Setpoint range
 Synchronisation range
[8-4] Example: Speed setpoint generation in the "Speed follower" operating mode (with nSpeedAddValue_v = 0)
8.4 Holding brake control
________________________________________________________________
This basic function is used for low-wear control of a holding brake.
 Danger!
Please note that the holding brake is an important element of the safety concept of the
entire machine.
Thus, proceed very carefully when commissioning this system part!
 Stop!
Holding brakes on Lenze motors are not intended for braking during operation. The
increased wear caused by braking during operation can destroy the motor holding
brake!
 Note!
• Deactivate automatic DC-injection braking when a holding brake is used!
• For this purpose, go to C00019 and set the Auto DCB threshold to "0".
• Background: Controller inhibit is already activated by the holding brake control.
• If an electrically holding (self-releasing) brake is to be controlled instead of an
electrically released (self-holding) brake, the trigger signal must be inverted!
Functional settings ( 408)
• Detailed information on mounting and electrical installation of the motor holding
brake can be found in the documentation on the motor holding brake.
Intended use
Motor holding brakes are used to lock axes if the controller is inhibited or in case of "mains off"
system status. This is not only important for vertical axes but also for e.g. horizontal axes which may
cause various problems if the motion is not controlled.
Examples:
• Loss of the reference information after mains OFF and further spinning of the drive.
• Collision with other moving machine parts.
________________________________________________________________
8.4.1 Internal interfaces
In the function block editor, the LS_MotionControlKernel system block provides the following
internal interfaces for the basic function "holding brake control":
Inputs

Data type
bMBrakeRelease Releasing/applying the brake in connection with the selected operating mode
BOOL
FALSE Apply brake.
brake.
• Note!
deactivated.
bMBrakeStartValue2 Selection of the torque feedforward control value
BOOL Feedforward control of the motor before release
FALSE Starting value 1 is active (see the following figure).
TRUE Starting value 2 is active (see the following figure).
Creation of the feedforward control value for the release process of the brake:
 Signal path for motor control with feedback
 Signal path for motor control without feedback
 Feedforward control value
bBrakeStartValue2
0 S&H (Retain)
C02582 - Bit 4
nMotorTorqueAct_a TorqueValue1 0
(+)nSetSpeed 1 nBrkAddValue_a
2
(-)nSetSpeed
T = 4 ms
TorqueValue2 0
1
1 nSpeedSetValue_a
Release brake
C02581/4
C02581/5
Close brake
0 t
 C02581/4: Starting value 1 for manual feedforward control
 C02581/5: Starting value 2 for manual feedforward control
 C02582/Bit 4: Selection of the feedforward control value (automatic/manual
selection)
nMBrakeAddValue_a Additive feedforward control value (speed or torque) in [%] for torque feedforward
INT control when the respective control mode is started
• For speed control: 100 % ≡ reference speed (C00011)
• For torque control: 100 % ≡ maximum torque (C00057)
________________________________________________________________

Data type
bMBrakeApplied Input for status detection via switching contacts at the brake
BOOL • Only effective if bit 5 in C02582 is set to "1".
FALSE Brake is released.
TRUE Brake is applied.
Outputs
Data type
bMBrakeReleaseOut Trigger signal for switching element holding brake control via a digital output
BOOL • Use bit 0 under C02582 to activate inverted switching element triggering.
Functional settings
FALSE Apply brake.
TRUE Release brake.
bMBrakeReleased "Brake released" status signal considering the brake release time
 Stop!
The digital outputs are not suitable for the "direct" control of a holding brake!
• Connect the digital output connected to the trigger signal bMBrakeReleaseOut with a
relay or power contactor which switches the brake supply.
• When a power contactor is used, the response and release time of the earth contact is
added to the response and release time of the brake. Both times must also be
considered for parameterising the closing and opening time of the holding brake
________________________________________________________________
8.4.2 Parameter setting
 Danger!
A faultless brake control function requires a correct setting of the different deceleration
times in the following parameters!
A wrong setting of the delay times can cause a faulty control of the brake!
 How to go to the parameterisation dialog of the holding brake control:

3. Go to the Overview dialog level and click the "Basic functions" button.
4. Go to the Overview  Basic functions dialog box and click the Holding brake control button.
Short overview of parameters for holding brake control:

Value Unit
C02580 Holding brake: Operating mode 0: Brake control off

C02581/1 Holding brake: Switching threshold 5.00 %
C02581/2 Holding brake: Hyst. release 1.00 %
C02581/3 Holding brake: Hyst. close 1.00 %
C02581/4 Holding brake: FF control starting value 1 0 %
C02581/5 Holding brake: FF control starting value 2 0 %
C02582 Holding brake: Setting 0
________________________________________________________________

Value Unit
C02589/1 Holding brake: Closing time 100 ms

C02589/2 Holding brake: Release time 100 ms
C02589/3 Holding brake: Waiting time status 100 ms
C02589/4 Holding brake: Ramp FF control 0 ms
C02593/1 Holding brake: Actual value monitoring 0.000 ms
C02593/2 Holding brake: Application delay 0.000 ms
C02610/1 MCK: Holding brake ramp time synchr. 2.000 s
C02607 Holding brake: Status -
C00830/68 MCK: nMBrakeAddValue_a - %
C00833/80 MCK: bMBrakeRelease -
C00833/81 MCK: bMBrakeStartValue2 -
C00833/82 MCK: bMBrakeApplied -
8.4.2.1 Operating mode

For different applications and tasks, different operating modes are available in C02580. The
selected operating mode determines whether the holding brake control is used and how the
holding brake will be switched.
Mode 0: Brake control off

In this mode, brake control is switched off (not active).
• The bMBrakeReleaseOut trigger signal for the holding brake control switching element is set to
FALSE.
• The bMBrakeReleased status signal is set to FALSE.
 Note!
In the Lenze setting, the mode 0 is preset to get into a safe state after the mains is
switched on.
Mode 11: Manual control

In this mode, brake release and brake application can be directly controlled via the bMBrakeRelease
input without special logic or automatic.
• Setting pulse inhibit or controller inhibit has no influence on the bMBrakeReleaseOut trigger
signal for the holding brake control switching element.
• After the brake has been activated and the brake application time has expired, the controller is
inhibited automatically by the basic "Holding brake control" function.
 Tip!
You can use mode 11 to easily check if the brake switches correctly.
________________________________________________________________
Mode 12: Automatic control

In this mode, the brake is controlled automatically.
 Danger!
In this mode, the input bMBrakeRelease should be permanently set to FALSE unless
manual release (supervisor operation) is required.
If the bMBrakeRelease input is set to TRUE, the brake is released immediately, even if the
controller is inhibited!
• If the requested speed setpoint reaches a parameterisable upper speed threshold that allows
traversing of the drive, the brake will be released and operation enabled.
• On the other hand, if speed setpoint and actual speed fall below a parameterisable lower speed
threshold, the brake will be applied under consideration of different time parameters.
• The brake will also be activated automatically if quick stop is activated in the drive, e.g. by a
device command or as response to an error, and in the event of controller inhibit or pulse inhibit.
• After automatic brake activation and expiration of the brake application time, the controller is
inhibited automatically by the basic "Holding brake control" function.
 Tip!
The 2/12 mode is the usual mode to control the brake.
Mode 13: Semi-automatic control

In this mode, brake release and brake application can be directly controlled via the bMBrakeRelease
input without special logic or automatic.
In contrast to the manual operation (mode 11)
• the feedforward control is active in this mode, preventing a sagging e.g. in case of a hoist.
• the brake in this mode also closes when the controller is inhibited in order to prevent the axis in
a hoist from falling.
Related topics:
TroubleQSP ( 92)
Behaviour in case of pulse inhibit ( 417)
________________________________________________________________
8.4.2.2 Functional settings

The following bit coded functional settings for the holding brake control can be made in C02582:
Bit Option Info

Bit 0 bMBrakeReleaseOut invert. Activation of inverted control
• "1" ≡ Inverted logic of the trigger signal for the holding brake
control switching element
Bit 1 Horizontal brake protection Brake response in case of pulse inhibit
• "1" ≡ In the case of a pulse inhibit, the actual speed value is
monitored which must reach the "Close" threshold value to cause
the holding brake to be applied.
Note:
• This function is only active if bit 3 (horizontal/winding
technology) is set as well. The function is used in order that, when
the controller is inhibited, the holding brake of a drive with
horizontal traverse path does not wear out during rotation.
• With vertical motion (bit 3 = 0), this function is not active.
Especially with hoists and activated pulse inhibit of the controller,
an immediate application of the brake is essential for safety-
related reasons!
Bit 2 with hoist inv. feedfwd. control Direction of feedforward control with vertical/hoist technology:
• "0" ≡ Positive direction
• "1" ≡ Negative direction
Note:
Reversal (Ccw) is then considered.
Bit 3 Horizontal application Direction of movement of the axis
• "0" ≡ The axis performs vertical movements. Gravitational
acceleration causes movements.
• "1" ≡ The direction of the axis is horizontal or rotary. The
gravitational acceleration does not cause any movement.
Bit 4 Feedforward control C2581 Selection of the feedforward control value
(from version 11.00.00) • "0" ≡ Automatic selection.
• The torque saved at the last stop is used.
• "1" ≡ Manual selection.
• bMBrakeStartValue2 = FALSE: The feedforward control value 1
set in C02581/4 is used.
• bMBrakeStartValue2 = TRUE: The feedforward control value set
in C02581/5 is used.
Bit 5 Feedback monitoring Activation of status monitoring
(from version 11.00.00) • "1" ≡ The bMBrakeApplied input for status detection of the brake
(via a switching contact at the brake) is monitored after the
waiting time set in C02589/3 has expired.
Bit 6 Sync ramp L_NSet_1 Selection of the ramp time for the synchronisation process to
(from version 11.00.00) setpoint speed after the brake opening time has elapsed
Revised behaviour from version 11.00.00:
• "1" ≡ The ramp time of the effective acceleration of the ramp
function generator (L_NSet_1) is used (Lenze setting).
• "0" ≡ As before, the ramp time set in C02610/1 is used.
Note:
The changeover can be dynamically both via the ramp parameter
and via bit 6.
Bit 7 Reserved
________________________________________________________________
Related topics:
Behaviour in case of pulse inhibit ( 417)
Feedforward control of the motor before release ( 418)
8.4.2.3 Switching thresholds
 Stop!
Do not set the lower speed threshold for closing the brake too high to prevent excessive
wear of the brake!
 Note!
When comparing speeds, only the absolute value of the motor speed and not the
direction of rotation is considered.
Upper speed threshold for brake release:

Switching threshold (C02581/1) + hysteresis for release (C02581/2)
Lower speed threshold for brake application:

Switching threshold (C02581/1) - hysteresis for application (C02581/3)
 Tip!
The lower speed threshold for brake application should be set to approximately 5 ... 20 % of
the maximum speed to minimise the wear of the brake and provide for an optimum brake
reaction by a low grinding of the brake.
Related topics:
Process when brake is released ( 414)
Process when brake is closed ( 415)
________________________________________________________________
8.4.2.4 Application and release time
 Danger!
A wrong setting of the application and release time can cause a faulty control of the
brake!
• If the application time is set too low, the controller is inhibited and the drive becomes
torqueless before the brake is applied completely.
• Every mechanical holding brake comes

bMBrakeReleaseOut
with a construction-conditioned
t
application and release time which must
be considered by the holding brake control
I BRK
and is set in C02589.
• The application and release time of the
t
Lenze holding brake is indicated in the
supplied operating instructions in the
"Technical data" chapter.
CINH
• If the application and release times are too
t
long, this is uncritical in respect of safety
 C02589/1: Application time
but leads to unnecessarily long delays
 C02589/2: Release time
CINH = controller inhibit during cyclical braking processes.
[8-5] Definition of the application and release time with the example of the PM brake
 Tip!
The application and release times do not only vary between the brake types but also
depend on the basic conditions in the plant:
• Parameters of the hardware (cable length, temperature, level of supply voltage etc.)
• Contact elements used (brake module or contactor at the digital output)
• Type of overvoltage limitation/suppressor circuit
For optimisation purposes, detect in individual cases the response times by measurement.
________________________________________________________________
[8-6] Oscillogram 1: Current characteristic for the application of a mechanical holding brake (application time: 10.7 ms)
[8-7] Oscillogram 2: Current characteristic for the release of a mechanical holding brake (release time: 36.8 ms)
Related topics:
Process when brake is closed ( 415)
________________________________________________________________
8.4.2.5 Ramp time for approaching the setpoint speed

For the "Speed follower" operating mode, a ramp time can be set in C02610/1 if the setpoint is
already out of reach while the holding brake is initiating the feedforward control process.
Example:
A setpoint of 90 % is selected via the ramp function generator while the brake is applied (controller
is inhibited).
1. At the set ramp (in most cases C00012), the ramp function generator ramps up to 90 %.
2. The brake identifies the setpoint selection of 5 % (release switching threshold). The feedforward
control of the brake provides 3 % of the setpoint and will not report the release of the brake after
approx. 1 s has expired.
Conclusion: 90 % of the selected setpoint is already ramped up while the brake is only providing 3
% of the setpoint via the feedforward control.
Since at this point a step change from 3 % to 90 % may cause mechanical jerks, the setpoint is
ramped up from 3 % to 90 %, using the ramp time set in C02610/1 (Lenze setting: 2 s).
Our example is based on the V/f characteristic control mode (VFCplus). However, ramping up to a
setpoint that is out of reach is carried out for all motor control modes because there is always a
mechanical/electric delay when controlling a holding brake.
This delay is due to:
• Motor magnetisation (in the case of servo control only)
• Mechanical delay of all switching elements connected upstream to the holding brake
• Mechanical delay of the holding brake itself
• Generation of the holding torque by the motor
Related topics:
________________________________________________________________
8.4.2.6 Motor magnetising time (only with asynchronous motor)
• When an asynchronous motor is used, first

bMBrakeReleaseOut the magnetic field required for the holding
t torque is created (which is already
available when a synchronous motor is
I BRK used) after the controller inhibit is
deactivated.
• The motor is internally magnetised
t
through internal feedforward control of
the lower speed threshold. The release
CINH time set in C02589/2 is considered here.
t
 Motor magnetising time
CINH = controller inhibit
[8-8] Considering the motor magnetising time taking the PM brake as an example
Related topics:
8.4.2.7 Actual value monitoring

If an actual value monitoring time > 0 s is selected in C02593/1, the actual speed time monitoring
is active.
• The monitoring time starts when the speed setpoint has reached the lower switching threshold
and the actual speed is still above this threshold. (see illustration [8-11] in chapter "Process
when brake is closed".)
• If the actual speed is still above the threshold when the monitoring time has expired, the brake
will be automatically applied in the automatic brake control mode (mode 12).
 Note!
In the Lenze setting, the actual speed time monitoring is deactivated (C02593/1 = "0 s"),
i.e. the brake will only be applied when the actual speed has reached the lower switching
threshold.
________________________________________________________________
8.4.3 Process when brake is released
1. The controller inhibit is deactivated.

2. The magnetic field required for the holding torque is created in the motor (is already available
when a synchronous machine is used).
3. The bMBrakeReleaseOut trigger signal for holding brake switching element is set to TRUE for
releasing the brake.
4. After the brake opening time has elapsed:
• The bMBrakeReleased status signal ("brake released") is set to TRUE.
• In the "Speed follower" operating mode, the drive synchronises to the already accelerated
speed setpoint.
5. After the waiting time set in C02589/3 has additionally expired, the status monitoring starts
again (if activated via bit 5 in C02582).
Time diagram
 Feedforward control
 Setpoint synchronisation
 Follow setpoint
0 1 2
nSpeedSetValue_a

nSpeedSetValue_a_

0
t

bMBrakeReleaseOut
t
bMBrakeReleased
t
CINH
t

 Time slot for feedforward control/magnetising
 C02589/2: Release time
 C02610/1: Ramp time for approaching the setpoint speed
[8-9] Release holding brake in automatic mode via speed threshold
Related topics:
Feedforward control of the motor before release ( 418)
________________________________________________________________
8.4.4 Process when brake is closed
1. The motor is decelerated when the setpoint is reduced by the user (e.g. turn down the
potentiometer, setpoint selection via CAN).
• The motor can also be decelerated by the "Quick stop" function or by "DC-injection braking",
either directly requested by the user or as response to an error.
2. If the speed setpoint and the actual speed have fallen below the lower speed threshold or only
the speed setpoint has fallen below the lower speed threshold and the actual value monitoring
time has expired:
• The bMBrakeReleaseOut trigger signal for the holding brake switching element is set to FALSE
for closing the brake.
• The bMBrakeReleased status signal is reset to FALSE.
• The brake application time starts to expire.
3. After the brake application time has expired, the controller is inhibited.
4. After the waiting time set in C02589/3 has additionally expired, the status monitoring starts
again (if activated via bit 5 in C02582).
5. In order to prevent the drive from further rotating/accelerating in the event of an error of the
feedback contact, controller inhibit is cancelled again and the drive is held at standstill in a
speed-controlled manner.
Time diagrams
0 0
nSpeedSetValue_a

nSpeedSetValue_a_

0
t

bMBrakeReleaseOut
t
bMBrakeReleased
t
CINH
t
 C02593/2: Application delay
 C02589/1: Application time
[8-10] Close holding brake in automatic mode via speed threshold (actual value = setpoint)
________________________________________________________________
0 0
nSpeedSetValue_a

nMotorSpeedAct_a
nSpeedSetValue_a_

0
t

bMBrakeReleaseOut
t
bMBrakeReleased
t
CINH
t
 C02593/2: Application delay
 C02593/1: Actual value monitoring time
 C02589/1: Application time
[8-11] Close holding brake in automatic mode with actual value monitoring time (C02593/1 > 0 s)
________________________________________________________________
8.4.5 Behaviour in case of pulse inhibit
Setting the pulse inhibit causes a load-controlled coasting of the motor until the pulse is enabled
again. In the enabled controller, the pulse can be inhibited e.g. due to a DC overvoltage, DC
undervoltage or the "Safe torque off" request.
The brake response to pulse inhibit can be parameterised under C02582.
 Stop!
For parameterising the response to pulse inhibit in C02582, the energy conditions of the
machine should be evaluated first.
The energy stored in the machine can be considerably higher than the permissible
switching energy and thus lead to the destruction of the brake if applied directly!
Activate brake immediately when pulse is inhibited

If bit 1 is set to "0" in C02582 (Lenze setting), the brake will be immediately applied when the pulse
is inhibited to avoid damage to the mechanical components.
Especially in the case of hoist drives, immediate engagement of the brake is absolutely necessary for
safety reasons if the pulse inhibit function of the drive controller has been activated!
 Danger!
This behaviour is valid in (semi) automatic operation when the bMBrakeRelease input is
set to FALSE.
When the bMBrakeRelease input is set to TRUE (supervisor operation) in automatic
mode, the brake is not applied at pulse inhibit!
Only activate brake below threshold for brake activation

If bit 1 and bit 3 are set to "1" in C02582, the brake remains released until the lower speed threshold
is reached to avoid an excessive wear of the brake.
• The braking action only takes places due to the friction in the load mechanics.
• The brake will not be applied until the motor speed has reached the threshold for brake
activation. Hence, the function depends on the signal of the speed encoder.
During uncritical operation (horizontal loading condition), delayed brake application may be
required to protect the brake in case of high centrifugal masses.
In case of vertical motion (bit 3 = 0), this function is not active due to safety-related reasons.
Related topics:
Switching thresholds ( 409)
________________________________________________________________
8.4.6 Feedforward control of the motor before release
The motor is precontrolled by selecting the lower speed threshold for applying the brake. When the
upper speed threshold for brake release is reached, the motor is precontrolled for 200 ms with the
lower threshold value before the brake switches to the release mode.
Here, the direction of the feedforward control depends on two conditions:
1. On the settings selected under C02582:
• Bit 2 = feedforward control inverted
• Bit 3 = direction of the axis
2. On the sign of the setpoint.
Truth table for the direction of the feedforward control
Setpoint Direction Feedforward control Scheme Direction

Feedforward Start value
control value
n≥0 vertical/hoist not inverted

(C02582: Bit 3 = 0) (C02582: Bit 2 = 0) Q
0
P
inverted
(C02582: Bit 2 = 1) 0
Q
P
n<0 not inverted

(C02582: Bit 2 = 0) Q
0
P
inverted
(C02582: Bit 2 = 1) 0
Q
P
n≥0 horizontal/winding drive Inversion via bit 2 with Q

(C02582: Bit 3 = 1) horizontal direction not
effective 0
n<0 Q
________________________________________________________________
Selection of the feedforward control value

From version 11.00.00 onwards, the feedforward control value can be selected via bit 4 in C02582:
• Bit 4 = 0: Automatic selection
• Bit 4 = 1: Manual selection
• bMBrakeStartValue2 = FALSE: The feedforward control value 1 set in C02581/4 is used.
• bMBrakeStartValue2 = TRUE: The feedforward control value set in C02581/5 is used.
Related topics:
Switching thresholds ( 409)
9 Diagnostics & error management
9.1 Basics on error handling in the controller
________________________________________________________________

This chapter provides information on error handling, drive diagnostics, and fault analysis.
9.1 Basics on error handling in the controller
Many of the functions integrated into the controller can

• detect errors and thus protect the device from damage or overload, e.g. short-circuit detection,
Ixt overload detection, overtemperature detection, etc.
• detect an operating error by the user, e.g. a missing memory module, a required or missing
communication module, etc.
• output a warning signal if desired, e.g. if the speed is too high or too low, etc.
Depending on the importance, the error detection in the device responds very fast (e.g. short-circuit
detection < 1 ms) or in a slower cycle (e.g. temperature monitoring approx. 100 ms).
All functions provided with an error detection (e.g. the motor control) supply information to a so-
called error handler. The error handler is processed every 1 ms and evaluates all information.
In this evaluation, the so-called status determining error (display in C00168) and the current error
(display in C00170) are generated, and the controller is caused to take the respective error status
(e.g. TroubleQSP).
These two types of error information serve to diagnose errors systematically and contain the
following information:
1. The error type (e.g. "Warning")
2. The error subject area (e.g. "CAN generally integrated")
3. The error ID within the error subject area
Together all types of information form the real error number which is unique in the whole device
system.Structure of the 32-bit error number (bit coding) ( 444)
In addition to the control of the device status by the error handler, a logbook function records the
errors and their histories. Logbook ( 429)
 Tip!
For many device errors, the error type and hence the response of the controller to the error
can be parameterised. Setting the error response ( 438)
9.2 LED status displays
________________________________________________________________
CAN-RUN
Information on some of the operating states can be quickly obtained via the
LED display on the front of the controller.
CAN-ERR
DRV-RDY
DRV-ERR
Labelling Colour Description

CAN-RUN green CAN bus ok LED status displays for
the system bus ( 494)
CAN-ERR red CAN bus error
DRV-RDY green Standard device ready for operation LED status displays of the
device status ( 422)
DRV-ERR red Warning/trouble/fault
Related topics:
Device control (DCTRL) ( 72)
System bus "CAN on board" ( 488)
________________________________________________________________
9.2.1 LED status displays of the device status
CAN-RUN
The two LEDs "DRV-RDY" and "DRV-ERR" on the front of the controller are
triggered depending on the device status.
CAN-ERR
DRV-RDY The meaning can be seen from the table below.
DRV-ERR
DRV-RDY DRV-ERR Description Device status

(Display in C00137)
OFF OFF OFF or initialisation active Init
OFF Safe torque off is active SafeTorqueOff
OFF Device is ready to start ReadyToSwitchOn
OFF Device is switched on SwitchedOn
OFF Motor data identification/operation OperationEnabled
The controller is ready to switch on, switched

on or the operation is enabled and a warning
is indicated.
Fault active, quick stop TroubleQSP
OFF Fault active Trouble
OFF Fault active Fault
OFF System fault active SystemFault
Legend
Meaning of the symbols used to describe the LED states:
LED is flashing once approx. every 3 seconds (slow flash)
LED is flashing once approx. every 1.25 seconds (flash)
LED is flashing twice approx. every 1.25 seconds (double flash)
LED is blinking every second
LED is permanently on
Related topics:
9.3 Drive diagnostics with the »Engineer«
________________________________________________________________
When an online connection to the controller has been established, the connected controller can be
diagnosed and relevant actual controller states can be displayed in a clearly arranged visualisation
using the »Engineer«.
Example: Representation of the diagnostic information in the »Engineer« V2.19
Button Function
Acknowledge error message (if the error cause has been eliminated).
Display the Logbook of the controller. ( 429)
 Display the internal state machine including the current device status.
 Display details of the status determining error.
 Display details of the current error.
 Display all active sources of a controller inhibit.
 Display all active sources of a quick stop.
Monitoring... Configure the Monitoring. ( 436)
Drive control... Display the bit assignment of the following control-related words:
• MCI control word (C00136/1)
• CAN control word (C00136/2)
• Cause of controller inhibit (C00158)
• Cause of quick stop (C00159)
• Status word (C00150)
• Status word 2 (C00155)
Device information... Display identification data, e.g. firmware information or serial number of individual
controller components.
________________________________________________________________
 How to diagnose a drive with the »Engineer«:

2. Click the icon or select the OnlineGo online command to build up an online
connection with the controller.
3. Select the Diagnostics tab.
• With an online connection, the Diagnostics tab displays current status information
about the controller.
 Tip!
The online connection to the controller can be established via the following device
interfaces:
• CAN interface X1
Diagnostics via the System bus "CAN on board" ( 488)
• X6 diagnostic interface
We recommend this diagnostic connection when the X1 CAN interface is used for
process communication.
________________________________________________________________
9.3.1 Display details of the error
If you go to the Diagnostics tab and click the button for the status determining or current error,
the Error details dialog box displays further information on the error:
• Click the Help about error... button to open the online help with information on the error cause
and possible remedies.
From version 06.00.00 / »Engineer V2.13« onwards:

• The >> more details button serves to provide more information about the structure of the 16-
bit error number:
Related topics:
Structure of the 32-bit error number (bit coding) ( 444)
Structure of the 16 bit error number (bit coding) ( 447)
9.4 Drive diagnostics via keypad/bus system
________________________________________________________________
Keypad display of the controller status
• If the keypad on the front of the controller is connected to the

diagnostic interface X6, the status of the controller is shown
via different icons on the LCD display in the area .
Icon Meaning Note

 Controller is switched on. SwitchedOn ( 90)
 Controller is enabled.
 Application in the controller is stopped.
 Quick stop active
 Controller is inhibited. The power outputs are inhibited.
 Controller is ready to start. ReadyToSwitchOn ( 89)
 Speed controller 1 at the limit. The drive is torque-controlled.
 Set current limit has been exceeded in motor

or generator mode.
 Pulse inhibit active The power outputs are inhibited.
 System fault active
 Fault Fault ( 94)
 Trouble Trouble ( 93)
 TroubleQSP TroubleQSP ( 92)
 Warning is active
________________________________________________________________
Display parameters
The parameters listed in the following tables serve to query current states and actual values of the
controller for diagnostic purposes, e.g. by using the keypad, a bus system or the »Engineer« (with an
online connection to the controller).
• These parameters are listed in the »Engineer« parameter list and the keypad in the Diagnostics
category.
• A detailed description of these parameters can be found in the chapter "Parameter reference"
( 590).
Parameter Display
C00051 MCTRL: Actual speed value
C00056/1 Torque demand
C00056/2 Actual torque value
C00058 Output frequency
C00061 Heatsink temperature
C00133 Brake resistor utilisation
C00136/1 MCI control word
C00136/2 CAN control word
C00137 Device status
C00138/1 SYS control signals
C00138/2 MCK control signals
C00138/3 FWM control signals
C00150 Status word
C00158 Cause of controller inhibit
C00159 Cause of quick stop QSP
C00165/1 Status determining error (displayed as a numeric text)
C00165/2 Current error (displayed as a numeric text)
C00168 Status determining error (display of 32-bit number)
C00170 Current error
C00166/1 Error type, status determining
C00166/2 Error subject area, status determining
C00166/3 Error ID, status determining
C00166/4 Error type, current
C00166/5 Error subject area, current
C00166/6 Error ID, current
C00177/1 Switching cycles mains switching
C00177/2 Switching cycles output relay
C00177/3 Stress counter - short circuit
C00177/4 Stress counter - earth fault
C00177/5 Stress meter clamp
________________________________________________________________
Parameter Display
C00177/6 STO counter after power-on
C00177/7 DigIn CINH counter after power-on
C00177/8 IMP counter after power-on
C00178 Time the controller was enabled (elapsed-hour meter)
C00179 Power-up time (power-on time meter)
C00180/1 Running time - control card
C00180/2 Running time - heatsink fan
C00180/3 Running time - internal fan
Identification data
The parameters listed in the following table belong to the Identification category of the »Engineer«
parameter list and the keypad and serve to display the identification data of the controller:
Parameter Display
C00099 Firmware version (as a string)
C00199/1 Device name
Automatic acceptance of the device name in the »Engineer«
C00200 Firmware product type
C00201/1...6 Firmware of the control card and the power section
C00203/1...9 Product type code of the individual device components
C00204/1...9 Serial numbers of the individual device components
9.5 Logbook
________________________________________________________________
9.5 Logbook
The integrated logbook function of the controller chronologically logs important events within the
system and plays an important role for troubleshooting and controller diagnostics.
Events that can be logged

The following events can be logged in the logbook:
• Error messages of the operating system ( 444)
• Error messages generated by the application (via LS_SetError)
• Loading/saving of parameter sets, loading of the Lenze setting (in preparation)
• Transmitting the firmware to the controller (in preparation)
• Switching the controller on/off
Information saved
For each event, the following information is saved in the logbook:
• Type of response to the event (e.g. fault, warning or information)
• Subject area that activated the event (e.g. CAN or USER).
• Event
• Value of power-on time meter
• Selected process values (analog % signals, binary signals)
Memory depth
Maximum number of logbook entries:
• 8400 StateLine: 15 logbook entries
• 8400 HighLine/TopLine: 50 logbook entries
9.5.1 Functional description
The structure of the logbook corresponds to a ring buffer:
• As long as free logbook memory is available, the entry is placed in

the next free position within the memory ().
Q
• If all memory units are assigned, the oldest entry () is deleted for
Q Q[
a new entry.
Q
• The newest entries will always remain available.
Q
Q
 Note!
In the event of a supply voltage failure, the logbook is saved and reloaded automatically
when the controller is switched on. This ensures that the error history of the device does
not get lost. For this reason it is very important to act with caution when deleting the
logbook entries.
9.5 Logbook
________________________________________________________________
9.5.2 Filtering logbook entries
The logbook adds new entries to the ring buffer after they have been passed through a
parameterisable filter. This filter helps you to exclude certain events from being entered into the
logbook which would trigger a certain error response (fault, trouble, warning, information, etc.).
C00169 (bit 1 ... bit 6) includes a bit coded specification of the events which are to be entered into
the logbook. In the Lenze setting, all events are entered into the logbook.
 Note!
Events with the "No response" setting are not entered into the logbook.
Counter for multiple entries

In order to prevent the ring buffer from overflowing with identical errors with frequent occurrence
e.g. during commissioning, identical errors will not lead to new line entries in the configuration of
the logbook in the Lenze setting. Instead, one counter will be counted up for this error.
• The time of the error is always the time of its first occurrence. Hence, a new logbook line will
only be generated if a new error occurs.
• The error counter can be deactivated by resetting bit 9 in C00169.
9.5.3 Automatic recording of device-internal signals at the time the error occurs
For purposes of error analysis, two optional device-internal digital signals and an analog signal
(16 bit) can be recorded at the time the error occurs.
• The digital signals to be recorded are selected in C00163/1 and C00163/2.
• Scaling of the value recorded: 0 ≡ FALSE; 1 ≡ TRUE
• The analog signal to be recorded is selected in C00164/1.
• Scaling of the value recorded: 16384 ≡ 100 %
9.5 Logbook
________________________________________________________________
9.5.4 Reading out logbook entries
With an online connection, the existing logbook entries can easily be displayed in the »Engineer«.
Alternatively, the logbook entries can also be read out via the corresponding parameters (e.g. using
the keypad).
 Note!
Reading out the logbook entries is only permissible by one engineering tool at a time!
• If the logbook entries are tried to be read out via two engineering tools at the same
time, missing lines or a permanent refresh may be caused.
• The parameter interface for reading out the logbook by an external
control/visualisation, is available as well.Reading out the logbook from an external
control/visualisation ( 434)
 How to display logbook entries in the »Engineer«:

2. Click the icon or select the OnlineGo online command to build up an online
connection with the controller.
3. Select the Diagnostics tab from the Workspace.
4. Click Logbook.
Example: Representation of the logbook in the »Engineer« V2.13
9.5 Logbook
________________________________________________________________
Button Function
Reset filters Reset set filter criteria to display all available logbook entries.
Export... Export the entries available in the logbook into a *.log file.
Exporting logbook entries to a file ( 432)
File in project File the current logbook in the Engineer project to be able to access it offline,
too.
Storing the logbook in the project ( 433)
Delete Delete all entries available in the logbook.
Configure... Open parameterisation dialog for configuring the logbook.
>> more details Show more details:
• Analog value 1, digital values 1 & 2
• More output types of the error numbers (32-bit, internal 32-bit and
internal 16-bit).
• Instead of the >> more details button, the << less details is now displayed
via which the details can be hidden again.
Help Open online help for the logbook.
Reset error Acknowledge existing error message if the error cause has been eliminated
and thus the error is not pending anymore.
• After the reset (acknowledgement) of the current error, further errors
may be pending which must also be reset.
Close Close the Logbook dialog box again.
9.5.5 Exporting logbook entries to a file
 How to export the logbook entries to a file:

1. Click Export... in the Logbook dialog box.
• The Export logbook dialog box is displayed.
2. Specify the folder, file name, and file type for the file.
3. Click the Save button to export the logbook entries into the given file.
• Hidden logbook entries are not exported, i.e. the filter criteria specified are accounted for
during the export.
• The logbook entries are written to the file in the form of a semicolon separated list.
9.5 Logbook
________________________________________________________________
Structure of the semicolon separated list

The list includes the following information:
1. Cons. no. 9. Error number

2. Active 10. Source - analog value 1
3. Counter 11. Analog value 1
4. Type 12. Source - digital value 1
5. Subject area 13. Digital value 1
6. Error text 14. Source - digital value 2
7. Time stamp 15. Digital value 2
8. Relative time
9.5.6 Storing the logbook in the project
If you want to display the currently available logbook entries at a later date in offline mode, i.e.
without a connection to the controller, you can store the current logbook in the project.
 How to store the logbook in the project:

Go to the Logbook dialog box and click the File in project button.
• The logbook with all the entries uploaded up to now is stored in the Engineer project
independent of the set filter criteria.
• A logbook of the same device already stored before will be overwritten without querying the
user.
• The filter settings are not stored in the project.
• When a logbook is filed in the project, the logbook can also be opened in offline mode via the
Logbook button on the Diagnostics tab.
 Note!
Storing the logbook changes the project.
• When the project is closed, you are asked to save the changed project.
• Only if the changed project is saved, the new logbook entries stored in the project
remain stored.
9.5 Logbook
________________________________________________________________
9.5.7 Reading out the logbook from an external control/visualisation
The parameters described in the following provide a second interface via which an external control
or visualisation can exclusively access the logbook and read out logbook contents. Logbook contents
can even be read out via this additional interface if the logbook is read out by the »Engineer« or
»EASY Starter« at the same time.
Structure of the interface
:ULWH/RJOLQHLQGH[ /RJERRN 5HDG/RJOLQH

& &
/RJOLQH & 5HVSRQVHLQGH[

& $FWLYLW\IODJ
/RJOLQH
& (UURUFRXQWHU
/RJOLQH
& (UURUW\SH
/RJOLQH & (UURUQXPEHU
& 7LPHVWDPS
• The line index of the logbook entry to be read out has to be set In C00191/1.
• Then the logbook entry addressed is stored as "OCTET STRING" in C00192/1.
• Via this display parameter, the logbook entry can be read out by the control.
• The "OCTET STRING" has a length of 8 double words of 4 successive bytes (= 32 bytes),
starting with byte 0 in each case:
OCTET STRING Byte 0 Byte 1 Byte 2 Byte 3

DWORD 0 Reserved Reserved Response index Reserved
DWORD 1 Error activity flag Error counter Reserved Reserved
DWORD 2 32-bit error number
0 1 2 3
Bit 31 30 29 26 25 16 15 0
 Reserved  Error type  Error subject area  Error ID

DWORD 3 Time in [s] during which the power was switched on (power-on time meter).
DWORD 4 Reserved Reserved Reserved Reserved
DWORD 5 Source - analog value Reserved Analog value 1
1 (scaling: 16384 ≡ 100 %)
DWORD 6 Source - digital value Reserved Digital value 1 Reserved
1
DWORD 7 Source - digital value Reserved Digital value 2 Reserved
2
9.5 Logbook
________________________________________________________________
• Additionally, a read access to different individual elements of the logbook entry addressed can
be executed via the subcodes of C00193. These parameters have a uniform data format (32 bits)
and represent the most important part of the logbook data:
Parameter Display
C00193/1 Response index, reference to the index requested (C00191/1)
C00193/2 Error activity flag (0 = error not active; 1 = error active)
C00193/3 Error counter (0 ... 255)
• This information depends on the logbook configuration. In the Lenze setting the logbook
configured so that identical errors do not produce a new line entry, but a counter is
incremented for this error.
C00193/4 Error type (bits 26 ... 29 of the 32-bit error number)
C00193/5 Error subject area + error ID (bits 0 ... 25 of the 32-bit error number)
C00193/6 Time in [s] during which the power was switched on (power-on time meter).
 Note!
• In the case of a simultaneous read access to the logbook entry (C00192/1) and its
individual elements (C00193/x), the line index in C00191/1 must only be reset by the
control after the read process is fully completed. Otherwise the data read are
inconsistent.
• Depending on the device version, the maximum number of logbook entries can vary:
• 8400 StateLine: 15 logbook entries
• 8400 HighLine/TopLine: 50 logbook entries
Basic workflow
• The logbook can be read out by an external control or

visualisation via the procedure shown on the left.
:ULWH/RJOLQHLQGH[
& • The "Response index" query ensures that the logbook entry
read really corresponds to the logbook entry requested.
5HDG/RJOLQH
&
/RJOLQH
1R UHVSRQVHLQGH[
/RJOLQH
LQGH["
<HV
Related topics:
Structure of the 32-bit error number (bit coding)
9.6 Monitoring
________________________________________________________________
9.6 Monitoring
The controller is provided with various monitoring functions which protect the drive against
impermissible operating conditions.
• If a monitoring function responds,
• an entry will be made into the Logbook of the controller,
• the response (TroubleQSP, Warning, Fault, etc.) set for this monitoring function will be
triggered,
• the status of the internal device control changes according to the selected response,
controller inhibit is set, and the "DRV- ERR" LED on the front of the controller goes on:
Response Entry in the Display in Disable Controller Acknowledge "DRV-ERR" LED

logbook C00168 voltage inhibit ment
required
None OFF
Fault     
Trouble    
TroubleQSP   
WarningLocked   
Warning  
Information   OFF
System fault     Mains
switching
is required!
Related topics:
LED status displays of the device status ( 422)
Device overload monitoring (Ixt) ( 238)
Motor overload monitoring (I2xt) ( 239)
Motor temperature monitoring (PTC) ( 242)
Brake resistor monitoring (I2xt) ( 243)
Motor phase failure monitoring ( 245)
Mains phase failure monitoring ( 248)
Maximum current monitoring ( 248)
Maximum torque monitoring ( 249)
Encoder open-circuit monitoring ( 250)
9.6 Monitoring
________________________________________________________________
9.6.1 Monitoring configuration
 How to configure the monitoring functions using the »Engineer«:

2. Select the Diagnostics tab from the Workspace.
3. Click the Monitoring... button.
• The 8400 monitoring configuration dialog box is displayed via which the desired settings
can be made:
Related topics:
Setting the error response ( 438)
9.6 Monitoring
________________________________________________________________
9.6.2 Setting the error response
When a monitoring function responds, the response set for this monitoring function (TroubleQSP,
Warning, Fault, etc.) will be triggered.
• For many monitoring functions the response can be individually parameterised via parameters.
 Tip!
The table in the chapter "Short overview (A-Z)" contains the error messages for which the
response can be set. ( 450)
Warning thresholds
Some of the monitoring functions are activated if a defined warning threshold (e.g. temperature)
has been exceeded.
• The corresponding preset threshold values can be changed via the following parameters:
Parameter Info
C00120 Setting of motor overload (I²xt)
C00123 Device utilisat. threshold (Ixt)
C00572 Brake resistor overload threshold
C00599 Motor phase failure threshold
9.6 Monitoring
________________________________________________________________
9.6.3 AutoFailReset function
The AutoFailReset function serves to automatically reset the latching "Fault" and "TroubleQSP"
errors as well as the latching "WarningLocked" warning.
The "latching" term means that the effect on the controller remains active even after the error cause
has been removed.
To reset latching errors and warnings, the following options are available:
• Manual reset
• with device command C00002/19 (activated by Low-High edge)
• by a Low-High edge at the bResetFail input of the LS_DriveInterface (the "FailReset" control
bit in the control word must be parameterised with a value of "1").
• Automatic reset
• using the AutoFailReset function.
Overview of the relevant parameters
Parameter Info
C00184 Repetition time of the error reset processes
C00185 Time left until the next error reset process
C00186 Max. number of permissible unsuccessful error reset processes
• When the number set is reached, the response parameterised in C00189
is executed.
C00187 Current number of unsuccessful error reset processes carried out
C00188 Configuration of the AutoFailReset function
• 0: Off
• 1: Fault + TroubleQSP
• 2: WarningLocked
• 3: All locking
C00189 Response after max. number of unsuccessful error reset processes has been
reached
9.7 Maloperation of the drive
________________________________________________________________
Maloperation Cause Remedy

Motor does not DC-bus voltage is too low Check mains voltage
rotate • Red LED is blinking every 1 s
• Display in the keypad: LU
Controller is inhibited Deactivate controller inhibit
• Green LED is blinking • Note: Controller inhibit can be set via
• Display in the keypad:  several sources !
• C00158 displays all active sources for
controller inhibit.
Automatic start is inhibited LOW/HIGH edge at RFR
(Bit 0 in C00142 = 1) If required, correct starting condition with
C00142
DC-injection braking (DCB) is active Deactivate DC injection brake
Mechanical motor brake is not released Release mechanical motor brake manually or
electrically
Quick stop (QSP) is active Deactivate quick stop
• Display in the keypad:  • Note: Quick stop can be set via several
sources!
• C00159 displays all active sources for
quick stop.
Setpoint = 0 Select setpoint
JOG frequency = 0 at activated JOG setpoint Set JOG setpoint in C00039/1...15
Fault active Clear fault
With C00006 = 4, "SLVC: Vector control" has Execute automatic motor parameter
been set, but no motor parameter identification with the C00002/23 device
identification has been carried out. command
Assignment of several mutually exclusive Correct configuration in C00701
functions with a signal source in C00701
Motor rotates Motor cable is defective Check motor cable
irregularly
Maximum motor current in motor or Adjust settings to the application: C00022:
generator mode is set too low Imax in motor mode
C00023: Imax in generator mode
Motor is underexcited or overexcited Check parameterisation:
C00006: Motor control
C00015: VFC: V/f base frequency
C00016: VFC: Vmin boost
Rated motor data (stator resistance, speed, Execute automatic motor parameter
current, frequency, voltage) and cos ϕ identification with the C00002/23 device
and/or magnetising inductance is not command
adapted to the motor data - or -
Adjust motor parameters manually:
C00084: Motor stator resistance
C00087: Rated motor speed
C00088: Rated motor current
C00089: Rated motor frequency
C00090: Rated motor voltage
C00091: Motor cosine phi
Motor windings are wired incorrectly Reverse from star connection to delta
connection
________________________________________________________________

Motor rotates The setpoint is selected via the analog input Set dead band for the analog input in
regardless of setpoint (blank where necessary). C00010/2 and C00010/4 (see chapter "Signal
"0" The analog input has a tolerance of ± 1 % and adaptation by means of characteristic")
is designed as bipolar input unlike in the case - or -
of the 8200 vector. For this reason, no dead Increase auto-DCB threshold in C00019
band has been set in the Lenze setting.
When a setpoint of 0.3 % has been selected,
e.g. a speed of 4.5 rpm (with reference speed
= 1500 rpm) is the result. As the auto-DCB
threshold in C00019 is set to 3 rpm. the
speed oscillates between 0 and 4 rpm.
Motor consumes too Vmin boost has been selected too high Correct setting with C00016
much current
V/f base frequency has been selected too low Correct setting with C00015
Rated motor data (stator resistance, speed, Execute automatic motor parameter
current, frequency, voltage) and cos ϕ identification with the C00002/23 device
and/or magnetising inductance is not command
adapted to the motor data - or -
Adjust motor parameters manually:
C00084: Motor stator resistance
C00087: Rated motor speed
C00088: Rated motor current
C00089: Rated motor frequency
C00090: Rated motor voltage
C00091: Motor cosine phi
Motor parameter Motor is too small compared to the rated Use device with lower rated power
identification is device power (>1 : 3)
aborted with error
DC injection brake (DCB) is active via Deactivate DC injection brake
LP1
terminal
Drive behaviour with different Optimise or manually adapt vector control
vector control is not
Execute automatic motor parameter
satisfactory
identification with the C00002/23 device
command
Torque dip in field Motor is overloaded Check motor load
weakening range
Motor windings are wired incorrectly Reverse from star connection to delta
or connection
motor stalling when
being operated in the V/f reference point is set too high Correct setting with C00015
field weakening Override point of field weakening is set too Correct setting with C00080
range low
________________________________________________________________

An asynchronous Motor phases have been interchanged Check the phase position of the motor cable
motor with feedback • Thus the rotating field of the motor is not If possible: Actuate the motor with
rotates without identical anymore with the rotating field deactivated feedback (C00006 = 6) and check
control and with too of the feedback system. direction of rotation of the motor
low speed • Therefore, the drive shows the following
behaviour if V/f characteristic control
(C00006 = 7) is performed:
• The motor rotates faster than the speed
setpoint by the value set in C00074.
• After the controller has been enabled,
the controller will not stop if the speed
setpoint = 0 or a quick stop (QSP)
occurs.
• Among other things, the final motor
current depends on the value set for the
Vmin boost and may rise up to Imax
which can trigger the "oC5: Ixt
overload" fault message.
Motor phase (LP1) Monitoring is not active (C00597 = 0) Activate monitoring (C00597 = 1)
monitoring does not
respond if the motor
phases are
interrupted
9.8 Operation without mains supply
________________________________________________________________
9.8 Operation without mains supply
 Note!
Observe the following restrictions for operation without mains supply:
Safety state
Controllers of the 8400 series can be optionally equipped with the integrated "Safe
torque off (STO)" safety system.
• Up to and including version 13.xx.xx, the following applies:
If merely the external 24-V supply of the controller is switched on, the "Safe torque
off" status in C00137 (bit 10) will not be updated.
• From version 14.00.00 the following applies:
If merely the external 24-V supply of the controller is switched on, the "Safe torque
off" status in C00137 (bit 10) will be updated.
Fan monitoring functions
The fan monitoring functions are only active if the mains supply is switched on.
The following display parameters have a value of "0" if the mains supply is switched off and the
external 24 V supply of the controller is switched on:
Parameter Info
C00050 MCTRL: Speed setpoint
C00051 MCTRL: Actual speed value
C00058 Output frequency
C00061 Heatsink temperature
C00064/1...3 Device utilisation (Ixt)
C00066 Thermal motor load (I²xt)
C00177 Switching cycles
C00725 Current switching frequency
9.9 Error messages of the operating system
________________________________________________________________
This chapter describes all error messages of the controller operating system and possible causes &
remedies.
 Tip!
Each error message is also saved to the logbook in chronological order. Logbook ( 429)
9.9.1 Structure of the 32-bit error number (bit coding)
If an error occurs in the controller, the internal fault memory saves a 32-bit value which contains the
following information:
 Reserved
0 1 2 3  Error type
Bit 31 30 29 26 25 16 15 0
 Error subject area
 Error ID
[9-1] Structure of the error number

• From version 13.00.00: C00162/1 additionally displays the 32-bit error number without error
type, i.e. this error number only contains the error subject area and the error ID
(bit 0 ... bit 25).
• The LS_DriveInterface system block shows the 32-bit error number at the outputs
wStateDetermFailNoLow (Low Word) and wStateDetermFailNoHigh (High Word).
• From version 06.00.00 onwards: If the "Use 16BitFailNo." (Bit 15 = "1") option is activated in
C00148, the short 16-bit error number is provided by the SB LS_DriveInterface at the
wStateDetermFailNoLow output and the value "0" is provided at the
wStateDetermFailNoHigh output (see the following chapter).
• For the sake of legibility, the error number in the logbook and in C00165 is displayed with the
following syntax:
[Error type].[Error subject area no.].[Error ID]
________________________________________________________________
Error type
Bit 31 30 29 26 25 16 15 0
The error type gives information about the behaviour/response of the controller to the error. The
error type for some device errors can also be parameterised.
Bit 29 Bit 28 Bit 27 Bit 26 Meaning

0 0 0 0 0: No response
0 0 0 1 1: Fault
0 0 1 0 2: Trouble
0 0 1 1 3: TroubleQSP
0 1 0 0 4: WarningLocked
0 1 0 1 5: Warning
0 1 1 0 6: Information
Error subject area

Bit 31 30 29 26 25 16 15 0
The error subject area indicates the internal "function unit" of the controller in which the error has
occurred:
Error subject area Assigned errors Remedy possible by

user?
No. Name
111 Supply voltage Errors that occur in connection with the supply voltage of the device. Yes
119 Temperature Errors that occur for temperature reasons. Yes
123 Motor management / encoder Errors that occur within the motor control or encoder evaluation. Yes
125 Analog I/O integrated Errors that occur in connection with the analog inputs and outputs. Yes
127 Extension module slot 1 Errors that are reported by the extension module, and Yes if it is a fieldbus error.
communication errors to the plugged-in extension module.
131 CAN integrated (general) Errors related to general CAN functions. Yes
135 CAN process data object (PDO) Errors that are explicitly only related to the CAN-PDO (process data Yes
objects).
140 Device configuration Errors that occur due to incompatibilities of the plugged-in individual Yes if the error relates to a
components (fieldbus module, safety module, et al.). module plugged-in by the
user.
144 Parameter set Errors that occur in connection with the parameter set or the Yes if the error relates to a
parameter set memory (memory module). missing or incompatible
memory module.
145 Device firmware (internal error) Internal error of the device firmware. No
184 MotionControlKernel Errors that occur within the MotionControl basic functions (e.g. Yes
profile generation, brake control, positioning).
400 Defective device hardware Errors that occur due to defective device hardware. No
444 Fieldbus Errors that occur in connection with fieldbus communication. Yes
980 User error 1 Errors generated by the user (by the application) via the Yes
... ... LS_SetError_1 system block.
983 User error 4
Error ID
Bit 31 30 29 26 25 16 15 0
16-bit value (0 ... 65535) for error identification within the error subject area.
________________________________________________________________
Example for bit coding of the error number

C00168 displays the internal error number "142278671".
• This decimal value corresponds to the following bit sequence:
0 1 2 3
Bit 31 30 29 26 25 16 15 0
00001000011110110000000000001111
Assignment Information Meaning in the example

Reserved -
00
Error type 2: Trouble

0010
Error subject area 123: Motor management / encoder

0001111011
Error ID 15: "LU: DC bus undervoltage"

0000000000001111
• Thus, error number "142278671" means:

A DC bus undervoltage has been detected in the "Motor management / encoder" subject area.
The error response is a "Fault".
________________________________________________________________
9.9.2 Structure of the 16 bit error number (bit coding)
In addition to the 32-bit error number, a 16-bit error number is generated if an error occurs. It
consists of the following information:
 Reserved
0 1 2  Error subject area
Bit15 14 8 7 0
 Error ID
[9-2] Structure of the error number

• The LS_DriveInterface system block shows the 16-bit error number at the output
wStateDetermFailNoShort.
• If the "Use 16BitFailNo." option is activated in C00148 (bit 15 = "1"), the LS_DriveInterface
system block also shows the short 16-bit error number at the output wStateDetermFailNoLow
(Low Word of the 32-bit error number).
• The output wStateDetermFailNoHigh (High Word of the 32-bit error number) in this case is
"0".
• Advantage: The bus transfer of the error numbers is possible via a data word without
changing the interconnection of the technology application.
• For the sake of legibility, the 16-bit error number in the logbook is displayed with the following
syntax::
[Error subject area no.].[Error ID]
Error subject area

Bit15 14 8 7 0
The error subject area indicates the internal "function unit" of the controller in which the error has
occurred.
 Note!
Due to the smaller value range (0 ...127), the number assignment to the error subject
area differs from the 32-bit error number.

user?
No. Name
11 Supply voltage Errors that occur in connection with the supply voltage of the device. Yes
19 Temperature Errors that occur for temperature reasons. Yes
23 Motor management / encoder Errors that occur within the motor control or encoder evaluation. Yes
25 Analog I/O integrated Errors that occur in connection with the analog inputs and outputs. Yes
26 Defective device hardware Errors that occur due to defective device hardware. No
27 Extension module slot 1 Errors that are reported by the extension module, and Yes if it is a fieldbus error.
communication errors to the plugged-in extension module.
31 CAN integrated (general) Errors related to general CAN functions. Yes
________________________________________________________________

user?
No. Name
35 CAN process data object (PDO) Errors that are explicitly only related to the CAN-PDO (process data Yes
objects).
40 Device configuration Errors that occur due to incompatibilities of the plugged-in individual Yes if the error relates to a
components (fieldbus module, safety module, et al.). module plugged-in by the
user.
44 Parameter set Errors that occur in connection with the parameter set or the Yes if the error relates to a
parameter set memory (memory module). missing or incompatible
memory module.
45 Device firmware (internal error) Internal error of the device firmware. No
54 Fieldbus Errors that occur in connection with fieldbus communication. Yes
84 MotionControlKernel Errors that occur within the MotionControl basic functions (e.g. Yes
profile generation, brake control, positioning).
100 User error 1 Errors generated by the user (by the application) via the Yes
... ... LS_SetError_1 system block.
103 User error 4
Error ID
Bit15 14 8 7 0
8-bit value (0 ... 255) for error identification within the error subject area.
 Tip!
All possible 16-bit error numbers are listed in the table "Short overview (A-Z)" in the second
column. ( 450)
9.9.3 Reset error message
An error message with the response "Fault", "Trouble", "TroubleQSP" or "Warning locked" must be
explicitly reset (acknowledged) after the cause of the error has been eliminated.
 To reset (acknowledge) a pending error message, execute device command

C00002/19 = "1".
 Tip!
When an online connection to the controller has been established, use the Diagnostics tab
of »Engineer« and click Reset error to reset a pending error message.
________________________________________________________________
9.9.4 Export error texts
All error texts of the controller can be exported into a text file (*.txt) for further processing.
• The error text is preceded with the corresponding 32-bit error number (no error type) and the
16-bit error number, both as decimal number.
• If there is no corresponding 16-bit error number for a 32-bit error number, the field remains
empty.
Example
Output of the German and English error texts:
32-BitError 16-BitError DE-de EN-en

0 0 No error No error
111 11 Versorgungsspannung Supply voltage
119 / 19
12323 : Motor management / encoder
125 25 E/A integriert I/O integrated
...
26214416 6672 dH10: Lüfterausfall dH10: Fan failure
26214505 6761 dH69: Abgleichdatenfehler dH69: Adjustment fault
 How to export the error texts into a text file:

1. Go to the Project view in the Context menu of the 8400 StateLine controller and execute the
Export error texts... command.
2. Define the following options in the Export error texts dialog box:
• Output file and memory location
• Languages to be exported (German/English/French)
• Device/module to be exported
• Separator (tabulator or semicolon)
• Font (UTF8, standard font or ASCII)
3. Click OK to start the export.
• After the export, a message appears indicating whether the export was successful.
 Tip!
From version 13.00.00, the 32-bit number of the state-determining error is displayed in
C00162/1 without error type.
If, for instance, the error texts are stored in a master control or on an operator panel, the
error text to be displayed can be detected by reading the C00162/1 code.
________________________________________________________________
9.9.5 Short overview (A-Z)
The table below contains all error messages of the controller operating system in alphabetical order.
 Note!
For the sake of legibility, the Logbook and C00165 display the error number with the
following syntax:
In this documentation, "xx", a wildcard, stands for the error type since it is configurable
for many error messages.
 Tip!
If you click the cross-reference in the first column, "Error number", you will reach the
detailed description of the respective error message in the following chapter "Cause &
possible remedies". ( 453)
Error number Display in Error message Response can be set in CAN

(Lenze setting) Emergency
32 bits 16 bitshex 16 bitsdec C00162/1 Error Code
xx.0125.00001 0x1901 6401 8192001 An01: AIN1_I < 4 mA TroubleQuickStop C00598/1 0xF000
xx.0131.00006 0x1f06 7942 8585222 CA06: CAN CRC error No Reaction C00592/1 0x8000
xx.0131.00007 0x1f07 7943 8585223 CA07: CAN bus warn No Reaction C00592/3 0x8000
xx.0131.00008 0x1f08 7944 8585224 CA08: CAN Bus Stopped No Reaction C00592/4 0x8000
xx.0131.00011 0x1f0b 7947 8585227 CA0b: CAN HeartBeatEvent No Reaction C00592/5 0x8130
xx.0131.00015 0x1f0f 7951 8585231 CA0F: CAN control word Fault C00594/1 0xF000
xx.0127.00002 0x1b02 6914 8323074 CE04: MCI communication error No Reaction C01501/1 0x7000
xx.0127.00015 0x1b0f 6927 8323087 CE0F: MCI control word Fault C00594/2 0xF000
xx.0135.00001 0x2301 8961 8847361 CE1: CAN RPDO1 No Reaction C00593/1 0x8100
xx.0131.00000 0x1f00 7936 8585216 CE4: CAN Bus Off No Reaction C00592/2 0x8000
xx.0140.00013 0x280d 10253 9175053 CI01: Module missing/incompatible No Reaction C01501/2 0x7000
xx.0184.00005 0x5405 21509 12058629 Ck15: Error status sign. brake TroubleQuickStop - 0x8600
xx.0184.00064 0x5440 21568 12058688 Ck16: Time overflow manual control Fault -
xx.0135.00004 0x2304 8964 8847364 CP04: CAN RPDO4 No Reaction C00593/4 0x8100
xx.0145.00035 0x2d23 11555 9502755 dF10: AutoTrip Reset Fault C00189 0xF000
xx.0145.00014 0x2d0e 11534 9502734 dF14: SW/HW invalid Fault -
xx.0145.00024 0x2d18 11544 9502744 dF18: BU RCOM error Fault - 0x6100
xx.0145.00033 0x2d21 11553 9502753 dF21: BU Watchdog Fault - 0x6100
xx.0145.00034 0x2d22 11554 9502754 dF22: CU watchdog Fault - 0x6100
xx.0145.00025 0x2d19 11545 9502745 dF25: CU RCOM error Fault - 0x6100
xx.0145.00026 0x2d1a 11546 9502746 dF26: Appl. watchdog No Reaction C00580/1 0x6200
xx.0145.00050 0x2d32 11570 9502770 dF50: Retain error Fault - 0x6100
xx.0145.00051 0x2d33 11571 9502771 dF51: CuCcr error Fault - 0x6100
xx.0145.00052 0x2d34 11572 9502772 dF52: BuCcr error Fault - 0x6100
xx.0400.00009 0x1a09 6665 26214409 dH09: EEPROM power section Fault - 0x5500
xx.0400.00016 0x1a10 6672 26214416 dH10: Fan failure Warning C00566 0x5000
xx.0400.00104 0x1a68 6760 26214504 dH68: Adjustment data error CU Fault - 0x5500
xx.0400.00105 0x1a69 6761 26214505 dH69: Adjustment data error BU Fault - 0x5500
xx.0400.00106 0x1a6a 6762 26214506 dH70: ControlUnit is unequal to BaseUnit Fault - 0x5500
________________________________________________________________

xx.0123.00094 0x175e 5982 8061022 FC01: Switching frequency reduction No Reaction C00590 0x2000
xx.0123.00095 0x175f 5983 8061023 FC02: Maximum speed for Fchop No Reaction C00588 0xF000
xx.0123.00099 0x1763 5987 8061027 FC03: Field controller limitation No Reaction C00570/4 0xF000
xx.0123.00057 0x1739 5945 8060985 Id1: Motor data identification error Fault - 0xF000
xx.0123.00058 0x173a 5946 8060986 Id3: CINH identification WarningLocked - 0xF000
xx.0123.00059 0x173b 5947 8060987 Id4: Resistance identification error Warning - 0xF000
xx.0123.00074 0x174a 5962 8061002 Id5: Pole position identification error Fault C00643/1
xx.0123.00060 0x173c 5948 8060988 Id7: Motor control does not match motor data Information C00571/1 0xF000
xx.0123.00061 0x173d 5949 8060989 Id8: Speed sensor has not been set Fault C00571/2 0x7120
xx.0123.00145 0x1791 6033 8061073 LP1: Motor phase failure No Reaction C00597 0x3000
xx.0123.00015 0x170f 5903 8060943 LU: DC bus undervoltage Trouble C00600/1 0x3100
xx.0123.00016 0x1710 5904 8060944 oC1: Power section - short circuit Fault - 0x2000
xx.0123.00017 0x1711 5905 8060945 oC2: Power section - earth fault Fault - 0x2000
xx.0119.00050 0x1332 4914 7798834 oC5: Ixt overload Warning C00604 0x2000
xx.0123.00105 0x1769 5993 8061033 oC6: I2xt motor overload Warning C00606 0x2000
xx.0123.00007 0x1707 5895 8060935 oC7: Motor overcurrent Fault - 0x2000
xx.0123.00030 0x171e 5918 8060958 oC10: Maximum current reached No Reaction C00609 0x2000
xx.0123.00071 0x1747 5959 8060999 oC11: Clamp operation active Fault - 0xF000
xx.0123.00065 0x1741 5953 8060993 oC12: I2xt brake resistor overload Fault - 0xF000
xx.0123.00090 0x175a 5978 8061018 oC13: Maximum current for Fch exceeded Fault - 0xF000
xx.0123.00096 0x1760 5984 8061024 oC14: Direct-axis current controller limitation No Reaction C00570/1 0xF000
xx.0123.00097 0x1761 5985 8061025 oC15: Cross current controller limitation No Reaction C00570/2 0xF000
xx.0123.00098 0x1762 5986 8061026 oC16: Torque controller limitation No Reaction C00570/3 0xF000
xx.0123.00031 0x171f 5919 8060959 oC17: Clamp sets pulse inhibit No Reaction C00569/1 0xF000
xx.0119.00001 0x1301 4865 7798785 oH1: Heatsink overtemperature Fault - 0x4000
xx.0119.00015 0x130f 4879 7798799 oH3: Motor temperature (X106) triggered Fault C00585 0x4000
xx.0119.00000 0x1300 4864 7798784 oH4: Heatsink temp. > shutdown temp. -5°C No Reaction C00582 0x4000
xx.0123.00032 0x1720 5920 8060960 oS1: Maximum speed limit reached No Reaction C00579 0x8400
xx.0123.00033 0x1721 5921 8060961 oS2: Max. motor speed Fault - 0x8400
xx.0123.00001 0x1701 5889 8060929 ot1: Max. torque reached No Reaction C00608 0x8300
xx.0123.00093 0x175d 5981 8061021 ot2: Speed controller output limited No Reaction C00567 0xF000
xx.0123.00014 0x170e 5902 8060942 OU: DC bus overvoltage Trouble - 0x3100
xx.0144.00001 0x2c01 11265 9437185 PS01: No memory module Warning - 0x6300
xx.0144.00002 0x2c02 11266 9437186 PS02: Invalid par. set Fault - 0x6300
xx.0144.00003 0x2c03 11267 9437187 PS03: Invalid device par. set Fault - 0x6300
xx.0144.00004 0x2c04 11268 9437188 PS04: Invalid MCI par. set Fault - 0x6300
xx.0144.00007 0x2c07 11271 9437191 PS07: Invalid memory module par. set Fault - 0x6300
xx.0144.00008 0x2c08 11272 9437192 PS08: Invalid device par. Fault - 0x6300
xx.0144.00009 0x2c09 11273 9437193 PS09: Invalid par. format Fault - 0x6300
xx.0144.00010 0x2c0a 11274 9437194 PS10: Memory module binding invalid Fault -
xx.0123.00205 0x17cd 6093 8061133 Sd3: Feedback system open circuit Fault C00586 0x7300
xx.0123.00200 0x17c8 6088 8061128 Sd10: Speed limit for feedback system 12 Fault C00607 0x7300
xx.0111.00002 0x0b02 2818 7274498 Su02: One mains phase is missing Warning C00565 0x3000
xx.0111.00003 0x0b03 2819 7274499 Su03: Too frequent mains switching Fault - 0x3000
xx.0111.00004 0x0b04 2820 7274500 Su04: CU Insufficiently Supplied Warning - 0x3000
xx.0111.00006 0x0b06 2822 7274502 Su06: Mains input overload Fault - 0x3000
________________________________________________________________

Freely configurable user error messages (see LS_SetError_1)
xx.0980.00001 25600dec + C161/1* User error 1 No Reaction C00581/1 0x6200
* Only the lower 8 bits of the adjustable error ID (C161/x) can be used.
________________________________________________________________
9.9.6 Cause & possible remedies
This chapter contains all error messages of the controller operating system in numerical order of the
error numbers. The list provides detailed information on the response to the error message as well
as information on the cause & possible remedies.
 Note!
For the sake of legibility, the Logbook and C00165 display the error number with the
following syntax:
In this documentation, "xx", a wildcard, stands for the error type since it is configurable
for many error messages.
 Tip!
A list of all error messages of the controller operating system in alphabetical order can be
found in the previous chapter "Short overview (A-Z)" ( 450).
Su02: One mains phase is missing [xx.0111.00002]
Response (Lenze setting printed in bold) Setting: C00565 ( Adjustable response)

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
One mains phase of a three-phase supply has failed. Check mains connection (terminal X100).
Su03: Too frequent mains switching [xx.0111.00003]
Response (Lenze setting printed in bold)

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
Too frequent mains switching of the power section. The error must be acknowledged by mains switching.
• The device recognises if the power section is switched The charging circuit can only cool down when the mains
on and off too frequently. is switched off.
• To protect internal charging connections from • After switching the mains 3 times in one minute,
destruction, the device reports this error and prevents there must be a switching pause of 9 minutes.
the controller inhibit. All other functions are active. • Cyclic mains switching every 3 minutes is permissible.
Use of a power supply module in the DC-bus connection, From version 12.00.00 onwards, this power supply
the DC terminals of which are connected downstream to module can be used in the DC-bus connection by
the charging connection for the voltage DC bus (e.g. enabling it via C02865 (bit 8).
9400 from 45 kW). Note:
For further configuration of devices in the DC-bus
connection with 8400, the DC terminals of which are
connected downstream to the charging connection for
the voltage DC bus (e.g. 9400 from 45 kW with 8400)
contact Lenze.
________________________________________________________________
Su04: CU insufficiently supplied [xx.0111.00004]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
After switching on the device, the 24V supply voltage for With internal supply voltage via the power electronics,
the control electronics is too low (100 ms after switch-on the controller must be replaced.
U is < 19V). With external supply voltage, check the correct
• The current supply voltage is displayed in C00065. connection and/or the stability of the supply voltage.
Su06: Mains input overload [xx.0111.00006]

Cause Remedy
In order to protect the device from overload, the • Check whether all mains phases are connected (a 2-
following device outputs have a hardware detection in phase supply may be existent).
the mains input: 7.5 kW, 11 kW, 15 kW, 30 kW, 37 kW, 45 • Provide for sufficient cooling of the device.
kW.
In case of the error message "Su06", this hardware
detection has responded.
oH4: Heatsink temp. > shutdown temp. -5°C [xx.0119.00000]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
The heatsink temperature now only differs by 5 °C from Prevent further heating, i.e. reduce motor load or set
the shutdown temperature of the motor. controller inhibit so that the heatsink can cool down
again.
oH1: Heatsink overtemperature [xx.0119.00001]

Cause Remedy
The heatsink temperature is higher than the fixed limit • Check control cabinet temperature.
temperature (90 ° C). • Clean filter.
Maybe the ambient temperature of the controller is too • Clean controller.
high or the fan or its ventilation slots are dirty. • If required, clean or replace the fan.
• Provide for sufficient cooling of the device.
oH3: Motor temperature (X106) triggered [xx.0119.00015]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
The motor temperature monitoring function at the plug • Check motor temperature monitoring.
connector X106, terminal T1 /T2, has tripped. • Provide for sufficient cooling of the motor.
Possible causes: • Check terminals for open circuit or loose contact.
• The motor is overheated so that the thermal contact
integrated into the motor has been switched.
• An open circuit or a loose contact at the connections
mentioned above has occurred.
________________________________________________________________
oC5: Ixt overload [xx.0119.00050]

Cause Remedy
The Ixt overload check has tripped. • Check and, if required, correct dimensioning of the
• Operating threshold = 100 % Ixt (adjustable in device and the motor load with regard to technical
C00123) data.
Possible causes: • Reduce motor load cycles (observe load cycles
• Wrong dimensioning of the device with regard to its according to documentation).
motor load.
• Load cycles are not complied with.
ot1: Maximum torque reached [xx.0123.00001]

Cause Remedy
The device indicates that the maximally possible torque Reduce motor load.
at the motor shaft has been reached.
• C00057 displays the current torque.
oC7: Motor overcurrent [xx.0123.00007]

Cause Remedy
Maximum current monitoring has tripped. Check and, if required, correct dimensioning of the load
• The instantaneous value of the motor current has with regard to the installed device power.
exceeded the limit value set in C00939.
oU: DC bus overvoltage [xx.0123.00014]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
The device has detected an overvoltage in the DC bus. To • Reduce load in generator mode.
protect the device hardware, the inverter control is • Use a brake resistor.
switched off. • Use a regenerative power supply unit.
• Depending on the configuration of the auto-start lock • Establish a DC-bus connection.
function, set C00142 so that, when this error is • Select a braking method in C00175 which stops the
tripped, the controller only restarts after the ramp function generator when reaching the brake
controller inhibit has been switched. chopper threshold ("HlgStop").
• If this error message remains active longer than the
time set in C00601, a "Fault" is tripped. Otherwise, the
deactivation of the error message causes the inverter
control to be enabled again
• In case of the control types VFCplus and SLVC, the
motor voltage is approached to the voltage
setpoint alongside a ramp.
• From version 15.00.00, this voltage ramp can be set
in C00983/2. If the described remedies are not
possible or do not have any effect, it may be
required to increase this voltage ramp as otherwise
an overcurrent interruption may be caused. This
only happens in case of high motor power and
mass inertia so that the Lenze setting of 1 s should
be sufficient in the majority of cases.
________________________________________________________________
LU: DC bus undervoltage [xx.0123.00015]
Response (Lenze setting printed in bold) Setting: C00600/1 ( Adjustable response)

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
The device has detected a DC bus undervoltage. The • Switch on mains supply or ensure sufficient supply via
inverter control is switched off because the drive DC bus.
properties of the motor control cannot be provided • Adjust setting in C00142 if required.
anymore due to the DC bus undervoltage.
• Depending on the configuration of the auto-start lock
function, set C00142 so that, when this error is
tripped, the controller only restarts after the
controller inhibit has been switched.
oC1: Power section - short circuit [xx.0123.00016]

Cause Remedy
The device has recognised a short circuit of the motor • Check motor connections and the corresponding plug
phases. To protect the device electronics, the inverter connector on the device.
control is switched off. • Only use permissible combinations of device power
• Mostly, incorrectly executed motor connections are and motor power.
the cause. • Do not set the dynamics of the current limitation
• If the device is inappropriately dimensioned with controller too high.
regard to the motor load and the current limitation in
the controller (Imax controller) is set incorrectly, this
error message may also occur.
Motor control: Defining current limits
oC2: Power section - earth fault [xx.0123.00017]

Cause Remedy
The device has recognised an earth fault at one of the • Check motor connections and the corresponding plug
motor phases. To protect the device electronics, the connector on the device.
inverter control is switched off. • Use motor filters, cable lengths, and cable types
• Mostly, incorrectly executed motor connections are recommended by Lenze.
the cause. • If motor filters with additional terminals for +UG and
• If motor filter, motor cable length, and cable type –UG and devices greater or equal 3 kW are used:
(shielding capacity) are dimensioned incorrectly, this • up to version V05.00.00: Set resp. to earth fault
error message may occur due to leakage currents to (C00602) to "0: No Reaction".
PE. • From version V05.01.00 onwards: Deactivate earth-
• If motor filters with additional terminals for +UG and fault detection during operation by setting the
–UG and devices greater or equal 3 kW are used, the filter time (C01770) to 250 ms.
earth fault detection may be triggered due to leakage • If motor cables longer than 50 m are used:
currents to +UG and –UG. • From version V05.01.00 onwards: Increase filter
• A cause can also be the use of shielded motor cables time for earth-fault detection during operation
longer than 50 m. (C01770).
________________________________________________________________
oC10: Maximum current reached [xx.0123.00030]

Cause Remedy
The device displays that the maximum current has been • Check and, if required, correct dimensioning of the
reached. load with regard to the installed device power.
• Check the maximum current settings in C00022
(Imax in motor mode) and C00023 (Imax in generator
mode).
oC17: Clamp sets pulse inhibit [xx.0123.00031]

Cause Remedy
Due to a short overcurrent, the inverter was switched off • Check and, if required, correct dimensioning of the
for a short time (clamp disconnection). load with regard to the installed device power.
• Reduce the dynamics of the setpoint change or speed
control.
oS1: Maximum speed limit reached [xx.0123.00032]

Cause Remedy
The device has recognised that the maximum speed has • Limit setpoint selection to maximum values.
been reached. • Adjust set speed limitation (C00909) and frequency
limitation (C00910).
oS2: Max. motor speed [xx.0123.00033]

Cause Remedy
The device has recognised that the maximally • Limit setpoint selection to the maximally permissible
permissible motor speed has been reached. motor speed.
• If required, adapt set maximum motor speed
(C00965).
Id1: Motor data identification error [xx.0123.00057]

Cause Remedy
During the identification of motor parameters, an error • Check the motor connections and the corresponding
has occurred. plug connector on the device and, if necessary, the
Possible causes: motor terminal box.
• Interrupted motor cable. • Correct start parameters for the motor parameter
• Switched-off power section during the identification. identification (motor nameplate data).
• Implausible start parameter settings. • Stable power supply of the device.
________________________________________________________________
Id3: CINH identification [xx.0123.00058]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
The device has detected controller inhibit during the • Do not set controller inhibit during the motor data
motor data identification. identification.
• This cancels the identification process. The Lenze • Do not execute any device function which may
setting of the motor data is used. activate controller inhibit.
Id4: Resistor identification error [xx.0123.00059]

Cause Remedy
The device has recognised that an error has occurred in Enter sensible values for cable cross-section and motor
the calculation of the motor cable resistance. cable length.
• The parameters for cable cross-section and cable
length are implausible.
Id7: Motor control does not match motor data [xx.0123.00060]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
At controller enable, the device has detected that the Enter correct motor nameplate data and set a matching
motor control type set in C00006 cannot control the motor control type in C00006:
motor type set. • Motor nameplate data asynchronous motor  motor
• Example: Motor nameplate data for an asynchronous control type must be ASM, SLVC or VFCplus servo
motor have been entered; however, a motor control control.
type for a synchronous motor is set in C00006. • Motor nameplate data synchronous motor  motor
Note: control type must be PSM, SLPSM or VFCplus servo
Since the "VFCplus" control types are able to control control.
every motor to a certain extent, this error message will
never occur here.
Id8: Speed encoder has not been set [xx.0123.00061]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
When being In controller enable status, the device has Set the speed sensor in C00495.
detected that a motor control type with feedback has Note: The error can only be reset if the settings in C00006
beent set in C00006 , but no speed sensor has been set in and C00495 match.
C00495.
oC12: I2xt overload - brake resistor [xx.0123.00065]

Cause Remedy
Too frequent and too long braking processes. Check drive dimensioning.
________________________________________________________________
oC11: Clamp operation active [xx.0123.00071]

Cause Remedy
The device indicates that the "CLAMP" overcurrent Reduce setpoint generation dynamics or motor load.
limitation has been activated.
• A permanent clamp operation causes an overload
disconnection.
Id5: Pole position identification error [xx.0123.00074]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
Pole position identification has not been completed Check parameter setting of the pole position
successfully. identification.
oC13: Maximum current for Fch exceeded [xx.0123.00090]

Cause Remedy
The device has detected a motor current which exceeds • Observe the maximum current setting depending on
the maximum current limit at permanent switching the set switching frequency of the inverter.
frequency of the inverter. • Reduce the required load or setting of the dynamic
• If a permanent switching frequency inverter is set, a switching frequency if necessary.
certain limit arises for the maximum current,
depending on the setting. If this current limit is
exceeded due to a load impulse or overload, an error
message is displayed.
ot2: Speed controller output limited [xx.0123.00093]

Cause Remedy
The output of the speed controller has reached the • Observe load requirements.
internal limit value. In this status, the speed controller is • Correct dimensioning or reduce setpoint generation
not able anymore to correct the system deviation. dynamics if necessary.
• Only during "Closed loop" operation or with vector Motor control
control (SLVC).
FC01: Switching frequency reduction [xx.0123.00094]

Cause Remedy
Load-dependent switching frequency reduction • Observe load requirements.

• Correct dimensioning or reduce setpoint generation
dynamics if necessary.
Motor control
________________________________________________________________
FC02: Maximum speed for Fchop [xx.0123.00095]

Cause Remedy
Maximum speed for chopper frequency has been Select the correct maximum speed as a function of the
reached. switching frequency.
• The maximum speed has been exceeded depending Motor control: Determine speed limits
on the switching frequency.
oC14: Direct-axis current controller limitation [xx.0123.00096]

Cause Remedy
Direct-axis current controller limitation is active. • Observe load requirements.

Motor control
oC15: Cross current controller limitation [xx.0123.00097]

Cause Remedy
Cross current controller limitation is active. • Observe load requirements.

• Check parameter setting of the current controller
with regard to the motor controllers (e.g. reduce Vp).
Motor control
oC16: Torque controller limitation [xx.0123.00098]

Cause Remedy
Actuator limitation according to speed controller. • Observe load requirements.

Motor control
FC03: Field controller limitation [xx.0123.00099]

Cause Remedy
The output of the field controller has reached its • Observe load requirements.
maximum limit value. The drive is at the torque limit in • Correct dimensioning or reduce setpoint from the
the field weakening range. field weakening range if necessary.
Motor control
________________________________________________________________
oC6: I2xt overload - motor [xx.0123.00105]

Cause Remedy
Thermal overload of the motor. Only self-ventilated motors can be monitored using the
I2xt function.
• Check whether is it a self-ventilated motor. If not, set
C00606 to "0: No Reaction".
• Observe load requirements.
• Correct dimensioning if necessary.
• For VFCplus control type: Check Vmin boost (C00016).
Set Vmin boost
LP1: Motor phase failure [xx.0123.00145]

Cause Remedy
Motor phase failure - power section • Check the motor connections and the corresponding
• This error message is displayed if a motor phase plug connector on the device and, if necessary, the
carries less current of one half-wave than set in motor terminal box.
C00599. • Check the trigger threshold (C00599).
Sd10: Speed limit - feedback system 12 [xx.0123.00200]

Cause Remedy
Maximally permissible speed of the feedback system Reduce speed of the rotation shaft/feedback system.
connected to DI1/DI2 reached. nencoder <= (fmax x 60) / encoder increments
(for fmax = 10 kHz)
Sd3: Open circuit - feedback system [xx.0123.00205]

Cause Remedy
• HTL encoder cable interrupted. • Check HTL encoder cable.

• HTL encoder is defective. • Check HTL encoder.
Note: May also be caused by a very dynamic acceleration • Check related terminals.
or starting up against a blocked motor shaft (e.g. with a • Switch off monitoring (C00586 = "0: No reaction")
closed holding brake). when the HTL encoder is not used.
An01: AIN1_I < 4 mA [xx.0125.00001]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
Open-circuit monitoring for analog input 1 has tripped. • Check wiring of the analog X3/A1I input terminal for
• Only if the analog input has been configured as a open circuit.
current loop of 4 ... 20 mA (C00034/1 = 2). • Check minimum current values of the signal sources.
________________________________________________________________
CE04: MCI communication error [xx.0127.00002]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
Communication error with extension module in slot 1. • Eliminate EMC interference.

• Switch off controller, correctly plug in the module,
switch on the controller again.
• Mains switching or restart of the controller,
respectively.
• Replace module/controller.
• Please contact Lenze if the problem occurs again.
CE0F: MCI control word [xx.0127.00015]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
Bit 14 ("SetFail") of the wMciCtrl control word of the Trace back signal source on the bus (e.g. PROFIBUS) that
LS_DriveInterface system block has been set. sets bit 14 ("SetFail").
CE4: CAN bus off [xx.0131.00000]

Cause Remedy
CAN on board: "Bus off" status • Check wiring and bus terminating resistor.
• Received too many faulty telegrams. • Set identical baud rate for each bus node.
• Damaged cable (e.g. loose contact). • Assign different IDs to nodes.
• Two nodes with the same ID. • Eliminate electrical interference (e.g. EMC).
CA06: CAN CRC error [xx.0131.00006]

Cause Remedy
CAN on board: A faulty CAN telegram has been detected. • Check wiring and bus terminating resistor.
• Eliminate electrical interference (e.g. EMC).
CA07: CAN bus warning [xx.0131.00007]

Cause Remedy
CAN on board: Incorrect transmission or reception of • Check wiring and bus terminating resistor.
more than 96 CAN telegrams. • Set identical baud rate for each bus node.
• The current number of incorrectly transmitted CAN • Assign different IDs to nodes.
telegrams is displayed in C00372/1. • Eliminate electrical interference (e.g. EMC).
• The current number of incorrectly received CAN
telegrams is displayed in C00372/2.
• The current CAN error status is displayed in C00345.
________________________________________________________________
CA08: CAN bus stopped [xx.0131.00008]

Cause Remedy
CAN on board: The device has received the "Stop Remote Check CAN master (NMT master).
Node" NMT telegram.
CA0b: CAN HeartBeatEvent [xx.0131.00011]

Cause Remedy
CAN on board: Cyclic node monitoring • Reactivate Heartbeat producers by mains switching,
• Being a Heartbeat consumer, the device has not restarting the controller, or a CAN Reset Node.
received a Heartbeat telegram from Heartbeat • Reparameterise CAN Heartbeat producer time or
producer 1 ... 7 within the defined time. switch off consumer monitoring and reset error
• The current states of the Heartbeat producers are status if latched.
displayed in C00347/1...7. Heartbeat protocol
CA0F: CAN control word [xx.0131.00015]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
Bit 14 ("SetFail") in the wCANControl control word of the Trace back signal source on the CAN bus that sets bit 14
LS_DriveInterface system block has been set. ("SetFail").
CE1: CAN RPDO1 [xx.0135.00001]

Cause Remedy
CAN on board: Time monitoring for RPDO1 has been • Set correct telegram length for CAN master
triggered. (transmitter).
• RPDO1 has not been received within the monitoring • Eliminate electrical interference (e.g. EMC).
time set in C00357/1 or was faulty. • Adjust monitoring time C00357/1 or switch off time
monitoring.
CE2: CAN RPDO2 [xx.0135.00002]

Cause Remedy
monitoring.
________________________________________________________________
CE3: CAN RPDO3 [xx.0135.00003]

Cause Remedy
monitoring.
CE5: CAN RPDO4 [xx.0135.00004]

Cause Remedy
monitoring.
CI01: Module missing/incompatible [xx.0140.00013]

Cause Remedy
The optional communication module has been removed • Check connection between the communication
or there is a connection problem or incompatibility with module and standard device.
the standard device. • Check if the module is plugged in correctly.
• In case of an incompatibility, either the module or the
software of the standard device is out of date. In this
case, please contact Lenze.
PS01: No memory module [xx.0144.00001]

Cause Remedy
Memory module is either not available or not snapped • If a memory module has been provided: Plug the
into place correctly. memory module into the slot of the standard device
intended for this purpose.
• If a memory module has been provided: Check if the
memory module has been plugged-in correctly.
________________________________________________________________
PS02: Par. set invalid [xx.0144.00002]

Cause Remedy
The parameter set saved to the memory module is Ensure voltage supply during the storage process and
invalid because it has not been saved completely. that the module remains plugged into the slot.
• This can be due to voltage failure or caused by Acknowledge errors via C00002/19 or control word via
removing the memory module while saving the communication interface and then re-parameterise the
parameter set. controller.
The parameter set stored in the memory module is The error can only be removed by loading the Lenze
invalid. The reason for this can be as follows: setting with the C00002/1 = "1: On / start" device
• Incomplete storage of the parameter set due to command.
voltage failure. • In order to prevent the error, do not switch off the
• The plugged-in module stems from a device with new voltage during the saving process.
firmware (compare C00099) or from a different • If the parameter set is to be transferred from one
device type (e.g. 8400 BaseLine). device with a higher version to a device with a lower
version, use the "copy parameter set" function of the
keypad. Make sure that you do not use functions that
are not available in the older device.
PS03: Par. set device invalid [xx.0144.00003]

Cause Remedy
The parameter set saved to the memory module is When the memory modules are exchanged, observe the
incompatible to the standard device. downward compatibility:
• An incompatibility of the parameter set is caused e.g. • OK: StateLine V2.0 to StateLine V3.0
when the memory module of an 8400 HighLine is • OK: StateLine V2.0 to HighLine V2.0
plugged into an 8400 StateLine or the parameter set • Not OK: HighLine Vx.x to StateLine Vx.x
in the memory module has a higher version than • Not OK: StateLine V3.0 to StateLine < V3.0
expected by the standard device.
PS04: Par. set Mci invalid [xx.0144.00004]

Cause Remedy
The parameter set saved to the communication module When the memory modules are exchanged, observe the
is incompatible to the standard device. downward compatibility:
• An incompatibility of the parameter set is caused e.g. • OK: StateLine V2.0 to StateLine V3.0
when the MCI module parameters in the memory • OK: StateLine V2.0 to HighLine V2.0
module do not match the plugged communication • Not OK: HighLine Vx.x to StateLine Vx.x
module. • Not OK: StateLine V3.0 to StateLine < V3.0
PS07: Par. memory module invalid [xx.0144.00007]

Cause Remedy
The parameter set saved to the memory module is Consultation with Lenze required.
invalid.
• The error occurs while loading the parameter set.
• The memory module plugged in the device lacks a
code or a code is incorrect.
________________________________________________________________
PS08: Par. device invalid [xx.0144.00008]

Cause Remedy
The parameter set in the device is invalid. Consultation with Lenze required.
• One code in the device is incorrect.
PS09: Par. format invalid [xx.0144.00009]

Cause Remedy
The code format is invalid. Consultation with Lenze required.

PS10: Memory module binding invalid [xx.0144.00010]

Cause Remedy
Device personalisation is active: The binding ID of the • Use memory module/controller with matching
memory module does not comply with the binding ID of binding IDs.
the controller. • Contact machine manufacturer.
Note:
It is not possible for Lenze to modify a replacement
device via special accesses in such a way that it
cooperates with a personalised memory module.
dF14: SW-HW invalid [xx.0145.00014]

Cause Remedy
Device error Consultation with Lenze required.
dF18: BU RCOM error [xx.0145.00024]

Cause Remedy
dF25: CU RCOM error [xx.0145.00025]

Cause Remedy
________________________________________________________________
dF26: Appl. watchdog [xx.0145.00026]

Cause Remedy
Time-out of the application. The required computing Reduction of the function block interconnection or the
time of the application exceeds the available computing complexity of the application.
time.
dF21: BU watchdog [xx.0145.00033]

Cause Remedy
dF22: CU watchdog [xx.0145.00034]

Cause Remedy
dF10: AutoTrip reset [xx.0145.00035]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
Too frequent auto-trip reset. • Check the error cause that activates the auto-trip
reset.
• Eliminate error cause and reset (acknowledge) error
manually afterwards.
dF50: Retain error [xx.0145.00050]

Cause Remedy
An error has occurred when accessing retain data. Mains switching

• Either caused by an internal hardware error or by lack • Please contact Lenze if the problem occurs again.
of mains switching after a firmware download.
dF51: CuCcr error [xx.0145.00051]

Cause Remedy
Device error Mains switching

________________________________________________________________
dF52: BuCcr error [xx.0145.00052]

Cause Remedy
Device error Mains switching

Ck15: Error status sign. brake [xx.0184.00005]

 0: No Reaction  1: Fault  2: Trouble  3: TroubleQuickStop  4: WarningLocked  5: Warning  6: Information
Cause Remedy
MCK: The status monitoring of the holding brake control • Check configuration of the bMBrakeApplied input for
has tripped. status detection of the brake (via a switching contact
at the brake).
• Check wiring/function of the switching contact.
• Adapt waiting time (C02589/3).
• Deactivate status monitoring (via bit 5 in C02582).
Ck16: Time overflow manual operation [xx.0184.00064]

Cause Remedy
PC manual control: The connection monitoring has • Check communication link between PC and
tripped. controller.
• The online connection between the PC and the • Check voltage supply/function of the controller.
controller has been interrupted for a longer period of • Adjust the timeout (C00464/1).
time than the timeout set in C00464/1.
dH09: EEPROM power section [xx.0400.00009]

Cause Remedy
dH10: Fan failure [xx.0400.00016]

Cause Remedy
The device fan has failed. • Check the fan for short-circuit.
Possible causes: • Clean the fan.
• The short-circuit check of the fan connection has
tripped.
• The speed monitoring of the fan has tripped.
________________________________________________________________
dH68: Adjustment data error CU [xx.0400.00104]

Cause Remedy
dH69: Adjustment data error BU [xx.0400.00105]

Cause Remedy
dH70: ControlUnit is unequal to BaseUnit [xx.0400.00106]

Cause Remedy
User error 1 [xx.0980.00000 ... xx.0980.65535]

Cause Remedy
User error 1 has been tripped via the bSetError1 input of User-defined.
the LS_SetError_1 system block.
User error 2 [xx.0981.00000 ... xx.0981.65535]

Cause Remedy
User error 3 [xx.0982.00000 ... xx.0982.65535]

Cause Remedy
________________________________________________________________
User error 4 [xx.0983.00000 ... xx.0983.65535]

Cause Remedy
9.10 "LS_SetError_1" system block
________________________________________________________________
9.10 "LS_SetError_1" system block
This system block is used for error handling within the application.
• The application can trip up to four different user error messages with parameterisable error IDs
and error responses via the four boolean inputs.
• If several inputs are set to TRUE at the same time, the input with the lowest number will trip the
error message.
/6B6HW(UURUB

E6HW(UURU & (UURULG
& 5HDFWLRQ

E6HW(UURU & (UURULG
& 5HDFWLRQ

E6HW(UURU & (UURULG
& 5HDFWLRQ

E6HW(UURU & (UURULG
& 5HDFWLRQ

Inputs

Data type
bSetError1 Input for tripping "User error 1"

BOOL • Error subject number: 980
• Error number: (C00581/1 x 0x0400000) + (980 x 0x10000) + (C00161/1)
Parameter

C00161/1...4 0 ... 65535 Error ID for user errors 1 ... 4
C00581/1...4 Response to user errors 1 ... 4
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
10 Oscilloscope function
________________________________________________________________
The oscilloscope function integrated in the 8400 StateLine can be used as support for
commissioning, maintenance, and troubleshooting. It is operated via a user interface in the
»Engineer«.
Typical applications
• Graphical representation of measured values (e.g. speed setpoint, actual speed and torque)
• Detection of process values without additional measuring instruments (e.g. oscilloscope,
voltmeter and ammeter)
• Convenient documentation for fine tuning of control circuits or parameter changes of the
controller
Special features
• Recording and saving of measured values in the 8400 StateLine
• Simultaneous measuring on four independent channels
• Measuring of fast and slow signals by means of adjustable sample rate
• Triggering on a channel
• Detecting of measured values before and after a trigger event (pre-/post-trigger)
• Transfer of the measured values to the Engineering PC for the graphical representation and
evaluation in the »Engineer«
• The measured data represented in the form of interpolated curves can be optionally shown and
hidden, represented in any colour or overlaid with the signal characteristics of other variables
recorded.
• Cursor and zoom function for the measurement analysis
• Saving & loading of oscilloscope configurations on the Engineering PC
• Export of measured values via the clipboard for further processing
10.1 Technical data
________________________________________________________________
Functional description
In the »Engineer«, you set the trigger condition and sample rate and select the variables to be
recorded via the oscilloscope user interface when an online connection to the 8400 StateLine has
been established. In this case, "variables" are the internal output signals of the function, system,
application and port blocks.
Every configuration change is transferred to the 8400 StateLine and checked. If invalid settings are
found, the oscilloscope triggers an error.
With an online connection, the measured 8400 StateLine data are transferred to the »Engineer« and
graphically represented on the oscilloscope user interface as soon as the measurement has been
completed.
10.1 Technical data
Oscilloscope function of 8400 StateLine

Number of channels 1 ... 4
Memory depth Max. 8192 measured values, depending on the number of channels and the size of
the variables to be recorded
Data width of a channel Max. 32 bits, corresponding to the data type of the variable to be recorded
Sample rate 1 ms or a multiple thereof
Time base 5, 10, 20, 50, 100, 200, 500 ms or 1 s
Trigger level Corresponding to the value range of the variable to be triggered
Trigger selection The trigger is activated if the trigger value set for the respective channel is fallen
short of or exceeded. The trigger value "must actually pass" the threshold.
Trigger delay -100 % ... +400 %
Trigger source Channel 1 ... 4
10.2 User interface
________________________________________________________________
10.2 User interface
The oscilloscope user interface is available in the »Engineer« from version 2.16 onwards!
 How to go to the oscilloscope user interface:

1. Go to the Project view and select the controller.
2. Select the Oscilloscope tab from the Workspace.
The oscilloscope user interface contains the following control and function elements:
 Oscilloscope toolbar  Trigger settings

 Oscillogram  Cursor function: Reading individual measured
values
 Vertical channel settings  Horizontal settings
Selecting the variables to be recorded Selecting the recording time/sample rate
 Status bar  Starting recording
 Oscillogram selection  Input field for comments
10.2 User interface
________________________________________________________________
Oscilloscope toolbar
Icon Function
Loading the oscillogram ( 485)
Closing the oscillogram ( 486)
Saving the oscillogram ( 484)
Copy to clipboard: Copy as text | Copy as image

• For documentation purposes, it is possible to copy the measured data of a data set as a table or,
alternatively, the oscilloscope user interface as a picture, to the clipboard for use in other
programs.
Printer settings | Print view | Print
Activate zoom function

Adjusting the representation ( 479)
Activate automatic scaling function
Adjusting the representation ( 479)
Load recorded oscillogram from device
• Transfer data from the measured data memory of the 8400 StateLine to the Engineering PC as
data set.
• Only possible when an online connection has been established to the 8400 StateLine.
10.3 Operation
________________________________________________________________
10.3 Operation
This chapter describes step-by-step how to record the signal characteristics of 8400 StateLine
variables and represent, analyse, document and process them in the oscilloscope.
 Note!
The oscilloscope can only be configured and recording can only be started when an
online connection has been established to the 8400 StateLine.
10.3.1 Selecting the variables to be recorded
The oscilloscope supports up to four channels, i.e. max. four variables can be recorded in a data set.
The variables to be recorded can be configured by means of the Vertical channel settings list field.
Four variables have already been selected in the default setting. In case of the 8400 StateLine, all
available channels are already assigned:
Column Name Meaning

1 - Curve colour for representation in the oscillogram
2 Ch Channel number
3 On On/off
4 Inv On/off inversion
5 Name Selection of the variable to be recorded
6 Unit Scaling
7 1/Div Vertical scaling factor
8 Offset Offset value
• The offset value depends on the scaling factor. It is indicated by a dashed
line in the colour of the curve on the left-hand edge of the oscillogram.
9 Position Position value
• The position value is independent of the scaling factor. It is indicated by a
line on the left-hand edge of the oscillogram.
10.3 Operation
________________________________________________________________
 How to change a selection:

1. Go to the Vertical channel settings list field and double-click the variable to be changed in
the Name column.
2. Select a new variable in the Select variable dialog box.
3. Click Ok.
• The dialog box is closed and the selection is accepted.
 How to delete a selection:

1. Go to the Vertical channel settings list field and right-click the variable to be removed to
open the context menu.
2. Select the Delete command from the context menu.
If not all available channels are assigned, you can add more variables for recording.
 How to add another variable for recording:

1. Double-click the bottom line highlighted in grey in the Vertical channel settings list field.
2. Select the desired variable in the Select variable dialog box.
3. Click Ok.
• The dialog box is closed and the selection is accepted.
10.3.2 Selecting the recording time/sample rate
 How to select the recording time and the sample rate:

1. Select the desired time base from the Time base list field.
• The current time base setting multiplied by ten results in the recording time.
• Since the measured data memory of the 8400 StateLine has a limited capacity, usually a
compromise is made between sample rate and recording time.
2. Enter the desired sample rate in [ms] in the Sample rate input field.
10.3 Operation
________________________________________________________________
10.3.3 Defining the trigger condition
The trigger condition serves to define the starting time of recording in the 8400 StateLine. The
oscilloscope provides various trigger conditions by means of which recording of the measured
values can be controlled.
 If the Cursor tab is selected, click the Trigger tab to show the input fields for configuring the
trigger condition.
Setting Function
Source Selection of trigger source:
Channel The oscilloscope triggers on a channel configured in the Vertical channel settings list field.
Force trigger No trigger condition, recording starts immediately after the start.
Trigger value Value from which on triggering is activated.
Delay Delay between recording and trigger event.
Pre-trigger Select a negative delay time to detect signals prior to the trigger event.
Trigger event
Trigger level
Trigger
delay
(negative)
• In the oscillogram, the trigger time is marked by a dashed line.

• When triggering on occurrence of an event, it is thus possible to detect the values that
have caused the event.
Post-trigger Select a positive delay time to detect signals occurring a certain time after the trigger event.
Trigger event
Trigger level
Trigger
delay
(positive)
Edge Three trigger modes are available:

Positive edge For trigger activation, the selected trigger value must first be fallen short of and then be
exceeded.
Negative edge For trigger activation, the selected trigger value must first be exceeded and then be fallen
short of.
Change For triggering on a BOOL variable:
• Trigger activation requires a state change.
For triggering on a different variable:
• For trigger activation, the current value must be different than the last value.
10.3 Operation
________________________________________________________________
10.3.4 Starting recording
 Note!
Recording can only be started when an online connection has been established to the
8400 StateLine.
 Click Start to start recording.

To obtain a maximum sample rate when recording the variable values, the data are first stored in
the measured data memory of the 8400 StateLine and then transferred as a data set to the
Engineering PC. The current recording status is displayed in the status bar.
10.3.5 Adjusting the representation
After the variable values have been recorded and the online data set has been transferred to the
Engineering PC, the data set is visualised in the oscillogram. If required, the representation can now
be adjusted by using the zoom or the automatic scaling function.
 Tip!
When the oscillogram does not show the complete measurement, a scrollbar appears
below the time axis. You can use this scrollbar for horizontal scrolling of the visible area.
The labelling of the time axis and the position display are automatically adapted.
10.3 Operation
________________________________________________________________
Selection of the horizontal display position

The Position input field can be used to change the horizontal display position.
• The position value can be directly entered into the input field or selected using the arrow
buttons.
• When the arrow buttons are used and the <Ctrl> key is pressed, you can increase the step size
to accelerate the shift.
Subsequently changing the time base

Change the time base to stretch or compress measurements that have already been completed.
Zoom function
 Go to the oscilloscope toolbar and click the icon to activate the zoom function.
Zoom function Procedure

Zoom selection Hold down the left mouse button and draw the oscillogram section to be
zoomed:
• While being drawn, the selection is shown with a frame.

• When the left mouse button is released, the selection is zoomed in
the oscillogram.
Horizontal/vertical shift of Hold down the left and right mouse button and move the mouse pointer
selection on the scale to shift the selection accordingly.
With a three-button mouse, you can use the mouse button in the
middle.
Horizontal stretching On the horizontal scale:
Hold down the left mouse button and move the mouse pointer to the
left to stretch the shown selection from the right edge.
Hold down the right mouse button and move the mouse pointer to the
right to stretch the shown selection from the left edge.
Moving the mouse pointer in opposite direction continuously reduces the

stretching.
Vertical stretching On the vertical scale:
Hold down the left mouse button and move the mouse pointer to the
bottom to stretch the shown selection from the top.
Hold down the right mouse button and move the mouse pointer to the
top to stretch the shown selection from the bottom.
Moving the mouse pointer in opposite direction continuously reduces the

stretching.
Return to original Click the right mouse button in the oscillogram to return step by step to
representation the original representation.
10.3 Operation
________________________________________________________________
Automatic scaling function

Use the automatic scaling function to automatically scale and reposition the representation of
selectable signal characteristics in the oscillogram and reset the offset to "0".
 How to carry out automatic scaling:

1. Go to the oscilloscope toolbar and click the icon to activate the automatic scaling
function.
2. Select the channels/variables for automatic scaling in the Select variable dialog box.
3. Click Ok.
• The dialog box is closed and the selected channels/variables are scaled automatically.
10.3 Operation
________________________________________________________________
10.3.6 Cursor function: Reading individual measured values
In addition to the zoom and scaling function, the oscilloscope offers a "cursor function" that can be
used to display individual measured values of a selectable channel or the difference between two
measured values.
 How to use the cursor function:

1. Click the Cursor tab to display it in the foreground and activate the cursor function.
• Now two movable vertical measuring lines are shown in the oscillogram.
2. Select the channel for which individual measured values are to be indicated from Channel
list field.
3. Hold down the left mouse button and drag the red vertical measuring line to the desired
position.
• The active measuring line is represented by a continuous line, the inactive measuring
line is represented by a dashed line.
• If you position the mouse pointer over the inactive measuring line, the measuring line
automatically becomes active.
• The value measured at the position of the active measuring line is indicated in the Value
group box.
• The difference between the values measured at the two measuring lines is indicated in
the Difference group box.
• Comparing peak values: Several values displayed in the oscillogram can be compared by
means of a horizontal measurement line. This measurement line is automatically
generated based on the current cursor position and thus cannot be moved separately.
10.4 Managing oscillograms (measured data sets)
________________________________________________________________
If several measured data sets are loaded in the oscilloscope at the same time, the data set to be
displayed is selected via the Oscillogram list field. There are three types of data sets:
Online data record

The ONLINE data set is the only data set which can be used to establish a connection to the target
system to carry out an oscilloscope measurement.
Offline data record

The OFFLINE data set is a data set already stored in the project or a data set imported from a file.
• The configuration of the OFFLINE data set can be reused for future recordings.
• The OFFLINE data set is displayed in the Oscillogram list field with the name assigned to it upon
saving.
Merge data record

The MERGE data set is automatically available in the Oscillogram list field if two or more data sets
are loaded in the oscilloscope at the same time.
• In the merge data record, several characteristics from the currently loaded data records can
overlaid, e.g. to compare signal characteristics from different recordings. Overlay function
( 486)
10.4.1 Commenting the oscillogram
In the Comments text field, you can enter a comment on the oscillogram selected.
• When the Saving the oscillogram command is executed, the comment is saved in the file
together with the data set.
• If you execute the Loading the oscillogram command and then select a data set in the Load
data set dialog box, the corresponding comment is shown in the dialog box.
________________________________________________________________
10.4.2 Saving the oscillogram
After the variables to be recorded have been selected and the required settings have been entered,
you can save the configuration and recording, if already executed, for future use in the project or
export them to a file.
 Note!
The reuse of a saved configuration is only reasonable for controllers of the same type, as
otherwise due to a scaling of the oscilloscope channels that is not adapted, incorrect
values are displayed!
 How to save the data set in the project:

1. Click the icon in the oscilloscope toolbar.
• The Save data set dialog box appears.
2. Enter a name in the Name of the data set to be stored input field.
3. Click Filing in the project.
• The dialog box is closed and the current data set is filed in the project.
 Note!
The data set is only saved if the entire project is saved!
 How to export the data set to a file:

• The Save data set dialog box appears.
2. Enter a name in the Name of the data set to be stored input field.
3. Click the Export to file button.
4. Specify the filing folder and the file name of the data set to be stored in the Save as dialog
box.
5. Click Save.
• The dialog box is closed and the current data set is saved.
________________________________________________________________
10.4.3 Loading the oscillogram
Configurations/data sets already stored can be reloaded into the oscilloscope any time, e.g. for the
overlay function.
 Note!
The reuse of a saved configuration is only reasonable for controllers of the same type, as
otherwise due to a scaling of the oscilloscope channels that is not adapted, incorrect
values are displayed!
 How to load a data set from the project:

• The Load data set dialog box appears.
2. Select the data set to be loaded from the upper list field.
3. If the data set is to be used as a configuration, select the option as configuration....
4. Click Open.
• The dialog box is closed and the selected data set/configuration is loaded.
• If the configuration to be loaded contains variables that are no longer available in the
controller, these variables are automatically removed from the configuration.
 How to import a data set from a file:

2. Click the Search... button.
3. Select the file to be imported within the desktop environment from the Open dialog box.
4. If the data set is to be used as a configuration, select the option as configuration....
5. Click Open.
• The dialog box is closed and the selected data set/configuration is imported.
• If the configuration to be loaded contains variables that are no longer available in the
controller, these variables are automatically removed from the configuration.
________________________________________________________________
10.4.4 Closing the oscillogram
You can close an open offline data record at any time.

• After a data set is closed, it is no longer available in the Oscillogram list field. The oscilloscope
automatically displays the ONLINE data set.
• If the closed data set was included in the MERGE data set, its channels will be removed from the
MERGE data set.
 Go to the Oscilloscope toolbar and click the symbol to close the currently displayed
offline data record.
10.4.5 Overlay function
The overlay function serves to lay several characteristics from the currently loaded data sets on top
of each other, e.g. to compare signal characteristics from different recordings.
• If two or more data sets are loaded in the oscilloscope, e.g. the ONLINE data set and a data set
saved before in the project, a "MERGE" data set is automatically provided in the Oscillogram list
field.
• If the merge data record is selected, the desired characteristics to be overlaid or compared can
be selected from the loaded data records in the Vertical channel settings group field.
• If an online data record is used in the merge data record, an update is carried out in the merge
data record in case of a renewed recording.
• Removing variables from an offline or online data record causes the characteristics in the merge
data record to be deleted.
________________________________________________________________
10.4.6 Deleting a data set saved in the project
 How to delete a data set saved in the project:

2. In the upper list field, click the data set to be deleted using the right mouse button to open
the Context menu.
3. In the Context menu, select the Delete data set command to delete the data set in the
project.
4. Click Cancel to close the Load data set dialog box again.
11 System bus "CAN on board"
________________________________________________________________

The controller has an integrated CANopen interface ("CAN on board") which is used to exchange i.a.
process data and parameter values between the nodes. Furthermore, other modules can be
connected via this interface such as decentralised terminals, operator and input devices (HMIs), as
well as external controls and host systems.
The interface transfers CAN objects following the CANopen communication profile (CiA DS301,
version 4.02) developed by the umbrella organisation of CiA (CAN in Automation) in conformity
with the CAL (CAN Application Layer).
 Tip!
• In the »Engineer« parameter list, category CAN, you can find the parameters relevant for
the CANopen interface classified in different subcategories.
• Information on CAN communication modules and CANopen interfaces of other Lenze
devices is provided in the "CAN" communication manual in the Lenze library.
11.1 General information
________________________________________________________________
For many years, the system bus (CAN) based on the CANopen communication profile has been
integrated in Lenze controllers. Due to the lower number of data objects available, the functionality
and compatibility of the previous system bus are lower as compared to CANopen. For parameter
setting, two parameter data channels are always available to the user while CANopen provides only
one active parameter channel.
The system bus (CANopen) of the Inverter Drives 8400 is a further development of the system bus
(CAN) including the following properties:
• Full compatibility with CANopen DS301 V4.02.
• Support of the "Heartbeat" NMT slave function (DS301 V4.02)
• 1 or 2 parameterisable parameter data channels for transmitting SDOs (Service Data Objects)
• Up to four parameterisable process data channels (dependent on the device version) for
transmitting PDOs (Process Data Objects)
• All process data channels are functionally equivalent
• Monitoring of the receive PDOs for data reception
• Adjustable error response to ...
• physical CAN errors (frame, bit, ACK error)
• bus-stop, bus working
• absent PDOs
• Telegram counters for SDOs and PDOs
• Bus status diagnostics
• Boot-up telegram generation
• Emergency telegram generation
• Reset node telegram generation (for master configuration)
• Sync telegram generation and response to sync telegrams:
• Data transmission/reception
• Device-internal time base synchronisation
• Abort codes
• All CAN on board functions can be parameterised via codes
• Object directory (all mandatory functions, optional functions, indexes)
11.1.1 General data and application conditions
Range Values
Communication profile CANopen, DS301 V4.02
Communication medium DIN ISO 11898
Network topology Line terminated at both ends
Adjustable node addresses Depending on the number of SDO channels set in C00366:
(max. number of nodes) • 1 SDO: Node address 1 ... 127 (max. 127 nodes)
• 2 SDO: Node address 1 ... 63 (max. 63 nodes)
• adjustable via DIP switches or via code C00350.
Adjustable baud rates 20, 50, 125, 250, 500, 1000 kbps
• adjustable via DIP switches or via code C00351.
• 1000 kbps are supported from version 11.00.00.
________________________________________________________________
Range Values
Process data For "BaseLine C" version:
• Max. 2 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
• Max. 2 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
For "StateLine C" version:
• Max. 4 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)
• Max. 4 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)
(Process data channel 4 is available from version 15.00.00!)
Parameter data Max. 2 server SDO channels with 1 ... 8 bytes
• Because of the 2 server SDO channels, the address range from 1 ... 63 is
available
Transfer mode for TPDOs • in case of data change (including adjustable blocking time)
• Time-controlled, 1 to x ms
• After the reception of 1 to 240 sync telegrams
11.1.2 Supported protocols
Protocols
Standard PDO protocols PDO write
PDO read
SDO protocols SDO download
SDO download initiate
SDO download segment
SDO upload
SDO upload initiate
SDO upload segment
SDO abort transfer
SDO block download
SDO block download initiate
SDO block download end
SDO block upload
SDO block upload initiate
SDO block upload end
NMT protocols Start remote node (master and slave)
Stop remote node (slave)
Enter pre-operational (slave)
Reset node (slave and local device)
Reset communication protocol (slave)
Monitoring protocols Heartbeat (heartbeat producer and heartbeat consumer)
• Up to 7 Heartbeat Producers can be monitored.
Emergency telegram (to master)
More protocols Transmitting and receiving a sync telegram
• Synchronisation of the internal time base to the reception of the CAN
sync telegram is possible.Synchronisation of the internal time base
________________________________________________________________
11.1.3 Communication time
The communication time is the time between the start of a request and the arrival of the
corresponding response.
 Tip!
The communication times in the CAN network depend on:
• the processing time in the device
• the telegram runtime (baud rate/telegram length)
• the bus load (especially if the bus is charged with PDOs and SDOs at a low baud rate)
Processing time in the 8400 controller

No dependencies exist between parameter data and process data.
• Parameter data: approx. 5 ms (typical value)
• For parameters concerning the motor control (e.g. C00011), the processing time may be
longer (up to 30 ms).
• Process data: 1 ms
11.2 Possible settings via DIP switch
________________________________________________________________
The following can be set via the front panel DIP switches:
R d c b a 64 32 16 8 4 2 1
• Bus terminating resistor
Switch: "R"
• Baud rate
Switch position:
Switch: "a" ... "d"
ON • Node address
Switch: "1" ... "64"
OFF
[11-1] DIP switch
Lenze setting: All DIP switches are in the "OFF" position
 Note!
• The DIP switch settings are accepted if a node address is unequal zero when the device
or the 24-V supply is switched on by the DIP address.
• If all DIP switches are OFF when the device or the 24 V supply is switched on, the
setting of the baud rate and node address are read out of the parameter
set/parameter.
 Tip!
The current DIP switch settings are displayed in code C00349.
Bit 15 indicates that the setting of the DIP switches has been accepted when the device or
the 24V supply has been switched on.
11.2.1 Activating the bus terminating resistor
The system bus must be terminated between CAN low and CAN high at the first and last physical
node each by a resistor (120 Ω). The 8400 controller is provided with an integrated bus terminating
resistor, which can be activated via the unlabelled DIP switch.
DIP switch position ("R"):
• OFF = bus terminating resistor is inactive
• ON = bus terminating resistor is active
________________________________________________________________
11.2.2 Setting the baud rate
The baud rate can be set via code C00351 or with the DIP switches a to d.
 Note!
• All DIP switches (a ... d, 1 ... 64) = OFF (Lenze setting):
• At switching on, the settings under code C00350 (node address) and C00351 (baud
rate) will become active.
• Preset baud rate: 500 kbps
DIP switch position Baud rate

d c b a
OFF ON OFF ON 20 kbps
OFF OFF ON ON 50 kbps
OFF OFF ON OFF 125 kbps
OFF OFF OFF ON 250 kbps
OFF OFF OFF OFF 500 kbps
OFF ON OFF OFF 1000 kbps*
* From version 11.00.00
11.2.3 Setting the node address
The node address can be set via code C00350 or with the DIP switches 1 to 64.
• The labelling on the housing corresponds to the values of the individual DIP switches for
determining the node address.
• The valid address range depends on the number of SDO channels set in C00366:
• 1 SDO (Lenze setting): 1 ... 127
• 2 SDO: 1 ... 63
 Note!
• The addresses of the nodes must differ from each other.
• All DIP switches (a ... d, 1 ... 64) = OFF (Lenze setting):
• At switching on, the settings under code C00350 (node address) and C00351 (baud
rate) will become active.
11.3 LED status displays for the system bus
________________________________________________________________
Example: Setting of the node address 23
DIP switch 64 32 16 8 4 2 1
Switch position OFF OFF ON OFF ON ON ON
Value 0 0 16 0 4 2 1
Node address = Sum of the values = 16 + 4 + 2 + 1 = 23
11.3 LED status displays for the system bus
CAN-RUN
Information about the status of the system bus can be obtained quickly via
LED displays "CAN-RUN" and "CAN-ERR" on the front of the controller.
CAN-ERR
DRV-RDY The meaning can be seen from the tables below.
DRV-ERR
Controller is not (yet) active on the system bus
LED display Meaning

Controller is not active on the system bus / Bus Off
(CAN-ERR is permanently lit)
Automatic detection of baud rate is active
(CAN-RUN and CAN-ERR flicker)
Controller is active on the system bus

• LED "CAN-RUN" signals the CANopen state:
LED display CANopen state

Pre-Operational
(CAN-RUN is blinking every 0.2 seconds)
Operational
(CAN-RUN is permanently lit)
Stopped
(CAN-RUN is blinking every second)
• LED "CAN-ERR" signals a CANopen error:
LED display CANopen error

Warning Limit reached
(CAN-ERR is blinking once, then off for 1 second)
Node Guard Event

(CAN-ERR is blinking twice, then off for 1 second)
Sync Message Error

(CAN-ERR is blinking three times, then off for 1 second) (only possible in the "Operational" state)
11.4 Going online via the system bus
________________________________________________________________
11.4 Going online via the system bus
The integrated system bus interface (CAN on board, X1 terminal) can also be used for the
communication between the »Engineer« and the controller, alternatively to the USB diagnostic
adapter.
• Lenze offers the following communication accessories for connection to the PC:
Communication accessories PC interface

PC system bus adapter 2173 Parallel interface
incl. connection cable and voltage supply adapter (LPT port)
• for DIN keyboard connection (EMF2173IB)
• for PS/2 keyboard connection (EMF2173IBV002)
• for PS/2 keyboard connection with electrical isolation (EMF2173IBV003)
PC system bus adapter 2177 USB
incl. connection cable (EMF2177IB) (Universal Serial Bus)
 Note!
• For detailed information about the PC system bus adapter, please see the "CAN
Communication Manual".
• Please observe the documentation for the PC system bus adapter!
• In the »Engineer«, go to the Device assignment offline devices dialog box and select the
"System bus CAN" entry from the Bus connection list field to establish an online
connection.
11.5 Reinitialising the CANopen interface
The C00002/26 = "1: EOn / start" device command reinitialises the CANopen interface of the
controller ("Reset node"), which is required after e.g. changing the data transfer rate, the node
address or the identifiers, respectively.
11.6 Structure of the CAN data telegram
________________________________________________________________
&RQWUROILHOG &5&GHOLPLWHU $&.GHOLPLWHU

6WDUW 575ELW &5&VHTXHQFH $&.VORW (QG
,GHQWLILHU 8VHUGDWD %\WH

1HWZRUNPDQDJHPHQW
3URFHVVGDWD
3DUDPHWHUGDWD
%LW %LW %LW %LW %LW %LW %LW %LW %LW
[11-2] Basic structure of the CAN telegram
The following subchapters provide a detailed description of the identifier and the user data. The
other signals refer to the transfer characteristics of the CAN telegram whose description is not
included in the scope of this documentation.
 Tip!
Please visit the homepage of the CAN user organisation CiA (CAN in automation) for further
information:
http://www.can-cia.org
11.6.1 Identifier
The principle of the CAN communication is based on a message-oriented data exchange between a
transmitter and many receivers. All nodes can transmit and receive quasi-simultaneously.
The identifier, also called COB-ID (abbr. for communication object identifier), is used to control
which node is to receive a transmitted message. In addition to the addressing, the identifier
contains information on the priority of the message and the type of user data.
The identifier consists of a basic identifier and the node address of the node to be addressed:
Identifier (COB-ID) = basic identifier + node address (node ID)
Exception: The identifier for process data/heartbeat/emergency objects as well as network
management and sync telegrams is freely assigned by the user (either manually or automatically by
the network configurator), or is permanently assigned.
________________________________________________________________
Node address (node ID)

Every node of the system bus network must be assigned to a node address (also called node ID)
within the valid address range (1 ... 127) for unambiguous identification.
• Assigning a node address more than once within a network is impermissible.
• The own node address can be configured via the DIP switches or via code C00350. Setting the
node address ( 493)
Identifier assignment
The system bus is message-oriented instead of node-oriented. Every message has an unambiguous
identification, the identifier. For CANopen, node-oriented transfer is achieved by the fact that every
message has only one transmitter.
• The basic identifiers for network management (NMT) and the basic SDO channel (SDO1) are
defined in the CANopen protocol and cannot be changed.
• The basic identifiers of the PDOs are preset in the Lenze setting according to the "Predefined
Connection Set" of DS301 V4.02.
Communication object Basis identifier (CANBaseID) Direction

Network management (NMT) 0 0x0000
1)
Sync 128 0x0080
Emergency 1) 128 0x0080 Device  system bus
PDO1 TPDO1 384 0x0180 Device  system bus
(Process data channel 1) RPDO1 512 0x0200 System bus  device
2)
SDO1 TSDO1 1408 0x0580 Device  system bus
(Parameter data channel 1) RSDO1 1536 0x0600 System bus  device
SDO2 TSDO2 1472 0x05C0 Device  system bus
(Parameter data channel 2) RSDO2 1600 0x0640 System bus  device
Heartbeat 1792 0x0700 Device  system bus
Boot-up 1792 0x0700 Device  system bus
1) If you set the sync identifiers manually, observe the use of the emergency telegram, since it has the same COB-ID.
2) From version 15.00.00
 Tip!
If required, the identifiers of the PDOs and the identifiers for the sync telegram can be
changed via parameters/indices.
Identifiers of the process data objects ( 517)
PDO synchronisation via sync telegram ( 521)
The active identifiers fo the PDOs are displayed in C00355/x.
________________________________________________________________
11.6.2 User data
All nodes communicate by exchanging data telegrams via the system bus. The user data area of the
CAN telegram either contains network management data or parameter data or process data:
Network management data

(NMT data)
• Control information on start, stop, reset, etc. of communication to specific nodes or to all nodes
of the CAN network.
Process data
(PDOs – process data objects)
• Process data are transferred via the process data channel.
• Process data can be used to control the controller.
• Process data are not saved to the controller.
• Process data are transmitted between host system and nodes to ensure continuous exchange
of current input and output data.
• Process data usually are unscaled/scalable raw data.
• Process data are, for instance, setpoints and actual values.
• The exact meaning of the PDO file contents is determined via the function block editor (FB
Editor) in the I/O level or via the PDO mapping.
Parameter data
(SDOs – service data objects)
• Parameter data are the CANopen indexes or, in case of Lenze devices, the codes.
• Parameters are, for instance, used for one-off plant setting during commissioning or when the
material is changed on a production machine.
• Parameter data are transmitted as SDOs via the parameter data channel. They are
acknowledged by the receiver, i.e. the transmitter gets a feedback about the transmission being
successful or not.
• The parameter data channel enables access to all Lenze codes and CANopen indexes.
• Parameter changes are automatically saved to the controller until mains switching.
• In general, the parameter transfer is not time-critical.
• Parameter data are, for instance, operating parameters, diagnostic information and motor data
as well as control information on the interconnection of function blocks in the I/O level of the
FB Editor.
11.7 Communication phases/network management
________________________________________________________________
Regarding communication via the system bus, the controller distinguishes between the following
statuses:
Status Explanation
"Initialisation" After switch-on, an initialisation run is carried out.
(Initialisation) • During this phase, the controller is not involved in the data exchange via
the bus.
• The standard values are re-written to all CAN-relevant parameters.
• After initialisation is completed, the controller is automatically set to the
"Pre-Operational" status.
"Pre-Operational" Parameter data can be received, process data are ignored.
(before being ready for operation)
"Operational" Parameter data and process data can be received!
(ready for operation)
"Stopped" Only network management telegrams can be received.
(stopped)
Communication object Initialisation Pre-Operational Operational Stopped

PDO 
SDO  
Sync  
Emergency  
Boot-up 
Network management (NMT)   
 Tip!
Part of the initialisation or the entire initialisation can be carried out anew in every status
by transferring the corresponding network management telegrams.
The current CAN status is displayed in C00359 for diagnostic purposes.
________________________________________________________________
11.7.1 Status transitions
,QLWLDOLVDWLRQ

3UH2SHUDWLRQDO

6WRSSHG

2SHUDWLRQDO
[11-3] NMT status transitions in the CAN network
Transition NMT command Status after Effects on process/parameter data after status change
change
(1) - Initialisation Initialisation starts automatically when the mains is
switched on.
• During initialisation, the controller is not involved in the
data exchange.
• After the initialisation is completed, the node sends a
boot-up message with an individual identifier and
automatically changes to the "pre-operational" status.
(2) - Pre-Operational In this phase, the master determines the way in which the
node(s) takes/take part in communication.
 From here, the master changes the statuses for the entire network.
• A target address included in the NMT command defines the receiver(s).
• If the 8400 controller is configured as CAN master, the status is automatically changed to
"Operational" after a waiting time has expired (C00356/1), and the 0x0100 ("Start remote node")
NMT command is transmitted to all nodes.
• Data can only be exchanged via process data objects if the status is "Operational"!
(3), (6) 0x01 xx Operational Network management/sync/emergency telegrams as well
Start remote node as process data (PDO) and parameter data (SDO) are active.
Optional: When the status is changed, event and time-
controlled process data (PDOs) are transmitted once.
(4), (7) 0x80 xx Pre-Operational Network management/sync/emergency telegrams and
Enter Pre-Operational parameter data (SDO) are active.
(5), (8) 0x02 xx Stopped Only network management telegrams can be received.
Stop remote node
(9), (10), (11) 0x81 xx Initialisation All CAN-relevant parameters (CiA DS 301) are initialised with
Reset node the saved values.
(12), (13), (14) 0x82 xx All CAN-relevant parameters (CiA DS 301) are initialised with
Reset communication the saved values.
 Meaning of the node address in the NMT command:

• xx = 0x00: If this assignment is selected, the telegram addresses all nodes (broadcast telegram).
The status of all nodes can be changed at the same time.
• xx = Node ID: If a node address is specified, only the status of the node with the corresponding
address changes.
________________________________________________________________
11.7.2 Network management telegram (NMT)
The telegram for the network management contains identifier "0" and the command included in
the user data which consists of the command byte and the node address:
,GHQWLILHU 8VHUGDWD %\WH

&2%,' FRPPDQG QRGH
VSHFLILHU DGGUHVV
%LW %LW %LW %LW FV QRGH,' %LW %LW %LW %LW %LW
[11-4] Network management telegram for changing over the communication phases
Command specifier (cs) NMT command

dec hex
1 0x01 Start remote node

2 0x02 Stop remote node
128 0x80 Enter Pre-Operational
129 0x81 Reset node
130 0x82 Reset communication
The change-over of the communication phases for the entire network is carried out by one node, the
CAN master. The function of the CAN master can also be carried out by the controller.
Parameterising the controller as CAN master ( 502)
Meaning of the node address in the user data:
• node ID = "0": The telegram addresses all nodes (broadcast telegram). The status of all nodes can
be changed at the same time.
• node ID = "1" ... "127": If a node address is specified, only the status of the node with the
corresponding address changes.
Example:
Data can only be exchanged via process data objects if the status is "Operational".If the CAN master
is supposed to switch all nodes connected to the bus from the "Pre-Operational" communication
status to the "Operational" communication status, the identifier and user data in the transmission
telegram must be set as follows:
• Identifier: 0x00 (network management)
• User data: 0x0100 ("Start remote node" NMT command to all nodes)
________________________________________________________________
11.7.3 Parameterising the controller as CAN master
If the initialisation of the system bus and the associated status change from "Pre-Operational" to
"Operational" is not effected by a superimposed host system, the controller can instead be defined
to be a "quasi" master to execute this task.
The controller is configured as CAN master in C00352.
• Being the CAN master, the controller sets all nodes connected to the bus (broadcast telegram)
to the "Operational" communication status with the "Start remote node" NMT telegram. Only
in this communication status, data can be exchanged via process data objects.
• A delay time can be set in C00356/1 which must expire after mains switching before the
controller transmits the "Start remote node" NMT telegram.

Value Unit
C00352 CAN slave/master Slave

C00356/1 CAN delay boot-up - Operational 3000 ms
 Note!
The changes of the master/slave operation in C00352 will not be activated until
• another mains switching of the controller
or
• the "Reset node" or "Reset communication" NMT telegram has been transmitted to
the controller.
The "CAN reset node" device command (C00002/26) is provided as an alternative to the
"Reset node" NMT telegram for the reinitialisation of the CAN-specific device
parameters.
 Tip!
Master functionality is only required during the initialisation phase of the drive system.
11.8 Process data transfer
________________________________________________________________
[11-5] PDO data transfer from / to the higher-level host system
For transmitting process data, up to four separated process data channels (PDO1 ... PDO4) are
available depending on the device version and software version.
Definitions
• Process data telegrams between the host system and the devices are distinguished in terms of
direction as follows:
• Process data telegrams to the device (RPDO)
• Process data telegrams from the device (TPDO)
• The CANopen process data objects are designated as seen from the node's view:
• Receive PDOs (RPDOx): Process data object received by a node
• Transmit PDOs (TPDOx): Process data object sent by a node
 Note!
Data can only be exchanged via process data objects if the status is "Operational"!
Communication phases/network management ( 499)
________________________________________________________________
11.8.1 Available process data objects
The number of available process data objects for controllers of the 8400 series depends on the
device version:
Process data object Version from version

"BaseLine C" "StateLine"
RPDO1 | Port block "LP_CanIn1"  
RPDO2 | "LP_CanIn2" port block  
RPDO3 | "LP_CanIn3" port block 
RPDO4 | "LP_CanIn4" port block 
TPDO1 | "LP_CanOut1" port block  

TPDO2 | "LP_CanOut2" port block  
TPDO3 | "LP_CanOut3" port block 
TPDO4 | "LP_CanOut4" port block 
Receive PDOs (RPDOs)

The process data objects transmitted from the system bus to the drive are processed via the
LP_CanIn1 ... LP_CanIn4 port blocks.
• Every port block provides 4 words (2 bytes/word). The data of every first word are provided in a
bit decoded manner (bit 0 ... 15).
• The first word of the LP_CanIn1 port block is defined as control word wCtrl. The wCtrl control
word does not have a permanent connection to the device control and can be used as required.
The predefined assignment of the wCtrl control word in the C00007 = "30: CAN" control mode
depends on the technology application selected in C00005:
• TA "Actuating drive speed":
Process data assignment for fieldbus communication ( 318)
• TA "Abschaltpositionierung":
Transmit PDOs (TPDOs)

The process data transmitted from the drive to the system bus are processed via the
LP_CanOut1 ... LP_CanOut4 port blocks.
• Every port block receives 4 words (2 bytes/word). The data of every first word are transmitted
bit by bit (bit 0 ... 15).
• The first word of the LP_CanOut1 port block is defined as the wState status word. The wState
status word does not have a permanent connection to the device control and can be used as
required.
• Vordefinierte Belegung siehe wDeviceStatusWord status word der Antriebsschnittstelle.
________________________________________________________________
11.8.1.1 RPDO1 | Port block "LP_CanIn1"

The LP_CanIn1 port block maps process data object RPDO1 in the FB Editor.
/3B&DQ,Q
E&WUOB%

E&WUOB%

E&WUOB%

E&WUOB%

E&WUOB%

E&WUOB%
:25'WR%,7

E&WUOB%

E&WUOB%

E&WUOB%

E&WUOB%

E&WUOB%

E&WUOB%

E&WUOB%

E&WUOB%

E&WUOB%
3'2PDSSLQJ
E&WUOB%
& &
&
Z&WUO
&

& Z,Q
&
&$1 :25' :25'
GQ,QBS
&$1EXV
53'2 &
',17
& Z,Q
&
& Z,Q
&
:25' :25'
GQ,QBS
',17
&
dnIn12_p output is available from version 11.00.00!
Short overview of the parameters for LP_CanIn1:

C00401/1 LP_CanIn1: Inversion bCtrl1_B0..15 0x0000
C00866/1 LP_CanIn1: wCtrl -
C00866/2 LP_CanIn1: wIn2 -
PDO mapping
C00408/1 LP_CanIn1: Mapping selection CanIn
C00409/1 LP_CanIn1: wCtrl MapVal 0
C00409/2 LP_CanIn1: wIn2 MapVal 0
________________________________________________________________

C00407/1 LP_CanIn1: dwIn12 MapVal 0
• The mapping for the double word is ORed
with the mapping setting in C00409/1 and
C00409/2.
C00409/4.
________________________________________________________________
11.8.1.2 RPDO2 | "LP_CanIn2" port block

/3B&DQ,Q
E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%
:25'WR%,7

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%
3'2PDSSLQJ
E,QB%
& &
&
Z,Q
&

& Z,Q
&
&$1 :25' :25'
GQ,QBS
&$1EXV
53'2 &
',17
& Z,Q
&
& Z,Q
&
:25' :25'
GQ,QBS
',17
&

C00401/3 LP_CanIn2: Inversion bIn1_B0..15 0x0000
PDO mapping
________________________________________________________________

C00409/6.
C00409/8.
________________________________________________________________

/3B&DQ,Q
E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%
:25'WR%,7

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%
3'2PDSSLQJ
E,QB%
& &
&
Z,Q
&

& Z,Q
&
&$1 :25' :25'
GQ,QBS
&$1EXV
53'2 &
',17
& Z,Q
&
& Z,Q
&
:25' :25'
GQ,QBS
',17
&

PDO mapping
________________________________________________________________

C00409/10.
C00409/12.
________________________________________________________________

/3B&DQ,Q
E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%
:25'WR%,7

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%

E,QB%
3'2PDSSLQJ
E,QB%
& &
&
Z,Q
&

& Z,Q
&
&$1 :25' :25'
GQ,QBS
&$1EXV
53'2 &
',17
& Z,Q
&
& Z,Q
&
:25' :25'
GQ,QBS
',17
&

PDO mapping
C00408/4 LP_CanIn4: Mapping Selection CanIn
________________________________________________________________

C00409/14.
C00409/16.
________________________________________________________________
11.8.1.5 TPDO1 | "LP_CanOut1" port block

The LP_CanOut1 port block maps process data object TPDO1 in the FB Editor.
/3B&DQ2XW
E6WDWHB%

E6WDWHB%

E6WDWHB%

E6WDWHB%

E6WDWHB%

E6WDWHB%
%,7WR:25'

E6WDWHB% &
E6WDWHB%
E6WDWHB%
E6WDWHB%

E6WDWHB%

E6WDWHB%

E6WDWHB%

E6WDWHB%

E6WDWHB%

E6WDWHB%

Z6WDWH &

Z2XW &
&$1 &$1EXV
Z2XW

& 73'2
Z2XW &

:25' :25'
GQ2XWBS
',17
Short overview of the parameters for LP_CanOut1:

C00401/2 LP_CanOut1: Inversion bState_B0..15 0x0000
C00868/1 LP_CanOut1:wState -
C00868/2 LP_CanOut1:wOut2 -
C00868/3 LP_CanOut1:wOut3 -
C00868/4 LP_CanOut1: wOut4 -
________________________________________________________________

/3B&DQ2XW
E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%
%,7WR:25'

E2XWB% &
E2XWB%
E2XWB%
E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

Z2XW &

Z2XW &
&$1 &$1EXV
Z2XW

& 73'2
Z2XW &

:25' :25'
GQ2XWBS
',17

C00401/4 LP_CanOut2: Inversion bOut1_B0..15 0x0000
________________________________________________________________

/3B&DQ2XW
E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%
%,7WR:25'

E2XWB% &
E2XWB%
E2XWB%
E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

Z2XW &

Z2XW &
&$1 &$1EXV
Z2XW

& 73'2
Z2XW &

:25' :25'
GQ2XWBS
',17

________________________________________________________________

/3B&DQ2XW
E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%
%,7WR:25'

E2XWB% &
E2XWB%

E2XWB%
E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

E2XWB%

Z2XW &

Z2XW &
&$1 &$1EXV
Z2XW

& 73'2
Z2XW &

:25' :25'
GQ2XWBS
',17

________________________________________________________________
11.8.2 Identifiers of the process data objects
For the process data objects PDO1 ... PDO4, three identifier assignment procedures are available in
C00353/1...4 :
• Identifier (COB-ID) = node address (C00350) + CANBaseID (Lenze setting)
• Identifier (COB-ID) = node address (C00350) + LenzeBaseID
• Identifier (COB-ID) = C0354/x
Lenze setting: Basic identifiers according to the "Predefined Connection Set" of DS301 V4.02
In the Lenze setting, the identifiers for the process data objects PDO1 ... PDO4 consist of the node
address set in C00350 and a basic identifier (CANBaseID) which corresponds to the "Predefined
Connection Set" of DS301 V4.02:
Object Basis identifier (CANBaseID)

PDO1 TPDO1 COB-ID = node address (C00350) + 384 0x180
RPDO1 512 0x200
PDO2 TPDO2 640 0x280
RPDO2 768 0x300
RPDO3 1024 0x400
PDO4 TPDO4 1152 0x480
RPDO4 1280 0x500
 Tip!
The active identifiers (COB-ID) are displayed in C00355/x.
OPTIONAL: Use the basic identifier according to Lenze definition (LenzeBaseID)

If the basic identifiers shall be used instead according to the Lenze definition, go to C00353/x and
select "0: COBID = C0350 + LenzeBaseID" for the coresponding PDO.
The basic Lenze identifiers which differ from the "Predefined Connection Set" are highlighted in
colour in the following table:
Object Basic identifier (LenzeBaseID)

PDO1 TPDO1 COB-ID = node address (C00350) + 384 0x180
RPDO1 512 0x200
RPDO2 641 0x281
RPDO3 769 0x301
RPDO4 897 0x381
________________________________________________________________
OPTIONAL: Set identifier individually

When "2: COBID = C0354/x" in C00353/x, the identifiers for the PDOs can be individually set via the
Lenze codes and CANopen indexes listed in the table below. That way, identiers independent of the
node address can be set for specific PDOs.
• If identifiers are assigned individually, all PDOs must have basic identifier values in the range of
385 ... 1407.
Object Lenze code CANopen index Default setting

PDO1 TPDO1 COB-ID = C00354/1 I-1400/1 0x201
RPDO1 C00354/2 I-1800/1 0x181
PDO2 TPDO2 C00354/3 I-1401/1 0x301
RPDO2 C00354/4 I-1801/1 0x281
PDO3 TPDO3 C00354/5 I-1402/1 0x401
RPDO3 C00354/6 I-1802/1 0x381
PDO4 TPDO4 C00354/7 I-1403/1 0x501
RPDO4 C00354/8 I-1803/1 0x481
 Note!
After a node address change (C00350) and a CAN reset node afterwards, the subcodes of
C00354 automatically resume the values which result from the respective basic
identifier and the set node address.
________________________________________________________________
11.8.3 Transmission type
Process data objects can be transmitted in an event-controlled or time-controlled manner. The

below table shows that it is possible to combine the different methods by means of logic operations
(AND, OR):
• Event-controlled
The PDO is sent when a special device-internal event has occurred, e.g. when the data contents
of the TPDO have changed or when a transmission cycle time has elapsed
• Synchronous transmission
A TPDO (or RPDO) is transmitted (or received) after the device has received a sync telegram
(COB-ID 0x80).
• Cyclic transmission
The cyclic transmission of PDOs takes place when the transmission cycle time has elapsed.
• Polled via RTR
A TPDO is transmitted when another device requests it by means of a data request telegram
(RTR remote transmit request). For this purpose, the data requester (e.g. the master) sends the
data request telegram with the COB-ID of the TPDO requested to be sent. The receiver
recognises the RTR and transmits the corresponding PDO.
Transmission type PDO transmission Logic combination of

different
cyclic synchronous event-controlled
transmission types
0   AND
1 ... 240  -
254, 255   OR
Transmission type Description

0 Synchronous and acyclic:
The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change
occurs in the PDO).
1 ... 240 Synchronous and cyclic (sync-controlled with response):
• Selection n = 1: The PDO is transmitted with every sync.
• Selection 1 < n ≤ 240: The PDO is transmitted with every n-th sync.
241 ... 251 Reserved
252 Synchronous - RTR only
253 Asynchronous - RTR only
254, 255 Asynchronous - manufacturer-specific / device profile-specific:
If this value is entered, the PDO transmission is event-controlled or cyclic.
(Note: The values "254" and "255" have the same meaning).
For a cyclic transmission, a cycle time must be entered for the respective PDO. In this case,
cyclic transmission takes place in addition to event-controlled transmission.
________________________________________________________________
The communication parameters such as the transmission mode and cycle time can be set freely for
every PDO and independently of the settings of other PDOs:

Value Unit
CAN1_OUT
C00322/1 Transmission mode 254
C00324/2 Blocking time 0 ms
C00356/5 Cycle time 0 ms
C00358/1 Data length 8 Bytes
CAN2_OUT
CAN3_OUT
CAN4_OUT (from version 15.00.00
CAN1_IN ... CAN4_IN
C00323/1...4 Transmission mode CAN1_IN ... CAN4_IN 254
• In the case of the RPDO serves as
monitoring setting in the case of sync-
controlled PDOs.
Blocking time
In C00324/x a "blocking time" can be set which defines the shortest transmission cycle with the
transmission type"asynchronous - manufacturer-specific/device profile-specific".
Example: Cycle time = 500 ms, blocking time = 100 ms, sporadic data change:
• With a sporadic data change < 500 ms, quickest transmission takes place every 100 ms due to
the set blocking time (event-controlled transmission). The transmission cycle timer is reset to 0
if the transmission has been activated in an event-controlled way.
• In the case of a sporadic data change > 500 ms, due to the cycle time set, transmission takes
place every 500 ms (cyclic transmission).
 Tip!
The communication parameters can also be set via the following CANopen objects:
• I-1400 ... I-1403: Communication parameters for RPDO1 ... RPDO4
• I-1800 ... I-1803: Communication parameters for TPDO1 ... TPDO4
________________________________________________________________
11.8.4 PDO synchronisation via sync telegram
During cyclic transmission, one or more PDOs are transmitted/received in fixed time intervals. An
additional specific telegram, the so-called sync telegram, is used for synchronising cyclic process
data.
• The sync telegram is the trigger point for the transmission of process data from the slaves to the
master and for the acceptance of process data from the master in the slaves.
• For sync-controlled process data processing, the sync telegram must be generated accordingly.
• The response to a sync telegram is determined by the selected transmission
type.Transmission type ( 519)
Basic workflow
SYNC
SYNC
0 1 2
 Sync cycle time (C01121)
[11-6] Sync telegram
A. After the sync telegram has been received, the slaves transmit the synchronous process data to
the master (TPDOs). The master reads them as process input data.
B. When the transmission process is completed, the slaves receive (RPDOs) the process output
data (of the master).
• All other telegrams (e.g. parameters or event-controlled process data) are accepted acyclically
by the slaves after the transmission is completed.
• Illustration [11-6] does not include acyclic data. However, they need to be considered when
dimensioning the cycle time.
C. The data are accepted in the slave with the next sync telegram if the Rx mode is set to 1 ... 240.
If the Rx mode is 254 or 255, the data are accepted in the next device cycle, irrespective of the
sync telegram.
Short overview: Parameters for the synchronisation via sync telegram
Parameter Info Lenze setting Assignment

Value Unit Sync Sync
master slave
C00367 CAN SYNC Rx identifier 0x0080 

C00368 CAN SYNC Tx identifier 0x0080 
C00369 CAN sync transmission cycle time 0 ms 
Related topics:
Synchronisation of the internal time base ( 575)
________________________________________________________________
11.8.5 Monitoring of the RPDOs for data reception
For RPDO1 ... RPDO4 each, a monitoring time can be parameterised within which the RPDO must
arrive. If the RPDO is not received within the monitoring time or not with the configured sync, the
response parameterised for each RPDO takes place.
Short overview: Parameters for RPDO monitoring

Value Unit
C00357/1...4 CAN1...4_IN monitoring time 3000 ms

C00593/1...4 Resp. to CAN1...4_IN monitoring No response
11.8.6 Configuring exception handling of the CAN PDOs
Exception handling for the CAN PDOs in the event of an error can be set via decoupling
configuration and decoupling values.
• Bit coded selection is carried out in C00342/1 for the process data words read by the bus,
defining the events that will trigger decoupling.
• Bit coded selection is carried out in C00342/2 for the process data words output by the
application, defining the events that will trigger decoupling.
Bit Event
Bit 0  BusOff_MsgErr
Bit 1  Warning
Bit 2  NodeStopped
Bit 3  HeartBeatEvent
Bit 4  CAN1_In_Überw.
Bit 8  Reserved
Bit 9  Reserved
Bit 10  Reserved
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Trouble
Bit 15  Fault
________________________________________________________________
Finally, the following parameters define the value that the process data words are to have when
they are decoupled:

Value Unit
C00343/1 LP_CanIn1:wCtrl DiscVal 0

C00343/2...4 LP_CanIn1:wIn2...wIn4 DiscVal 0
C00344/1 LP_CanOut1:wState DiscVal 0
C00344/2...4 LP_CanOut1:wOut2...wOut4 DiscVal 0
C00344/1...16
C00343/1...16 CAN OUT
Application
CAN IN
C00342/1 C00342/2

 Exception event (an error has occurred)
[11-7] General signal flow in the event of a configured exception
Related topics:
11.9 Parameter data transfer
________________________________________________________________
[11-8] Parameter data transfer via the available parameter data channels
Parameters are values stored in codes on Lenze controllers.

Two parameter data channels are available for parameter setting, enabling the simultaneous
connection of different devices for configuration purposes.
Parameter data are transmitted via the system bus as SDOs (Service Data Objects) and
acknowledged by the receiver. The SDO enables read and write access to all device parameters and
to the CANopen object directory integrated in the device. Indices (e.g. 0x1000) ensure access to
device parameters and functions included in the object directory. To transfer SDOs, the information
contained in the user data must comply with the CAN SDO protocol.
 Note!
Up to and including version 05.00.00, the parameter channels 1 and 2 are activated in
the Lenze setting.
From version 05.01.00 onwards, only the parameter data channel 1 is activated in the
Lenze setting according to CANopen.
• In order to activate both parameter data channels according to the previous
behaviour, set "2 SDO Lenze" in C00366.
________________________________________________________________
11.9.1 Identifiers of the parameter data objects
In the Lenze setting, the basic identifiers of the SDOs are preset according to the "Predefined
Connection Set".
The identifiers of the parameter data objects SDO1 and SDO2 result from the basic identifier and
the node address set under code C00350:
Identifier = basic identifier + node address
Object Direction Lenze-Base-ID CANopen-Base-ID

from device to device dec hex dec hex
SDO1 TSDO1  1408 580 1408 580
(Parameter data channel 1) RSDO1  1536 600 1536 600
SDO2 TSDO2  1472 5C0 1472 5C0
(Parameter data channel 2) RSDO2  1600 640 1600 640
Heartbeat  1792 700 1792 700
Boot-up  1792 700 1792 700
11.9.2 User data
Structure of the user data of the parameter data telegram
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
LOW byte HIGH LOW word HIGH word
byte
LOW byte HIGH byte LOW byte HIGH byte
 Note!
For the user data, the Motorola format is used.
Parameter data telegram examples ( 531)
The following subchapters provide detailed information on user data.
________________________________________________________________
11.9.2.1 Command
byte
The following commands can be transmitted or received for writing and reading the parameters:
Command 1st byte Data length Info

hex dec
Write request 0x23 35 4 bytes Writing of a parameter to the controller.

0x2B 43 2 bytes
0x2F 47 1 byte
0x21 33 Block
Write response 0x60 96 4 bytes Controller acknowledges a write request.
Read request 0x40 64 4 bytes Reading of a parameter from the controller.
Read response 0x43 67 4 bytes Controller's response to a read request with the current
parameter value.
0x4B 75 2 bytes
0x4F 79 1 byte
0x41 65 Block
Error response 0x80 128 4 bytes Controller's response if the write/read request could not be
executed correctly. Error messages ( 529)
More precisely, the command byte comprises the following information:
Command 1st byte

Command specifier (cs) Toggle (t) Length* e s
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Write request 0 0 1 0 0/1 0/1 1 1

Write response 0 1 1 0 0 0 0 0
Read request 0 1 0 0 0 0 0 0
Read response 0 1 0 0 0/1 0/1 1 1
Error response 1 0 0 0 0 0 0 0
*Bit coding of the length: 00 = 4 bytes, 01 = 3 bytes, 10 = 2 bytes, 11 = 1 byte
e: expedited (shortened block service)
s: segmented (normal block service)
 Tip!
More commands are defined in CANopen specification DS301, V4.02 (e.g. segmented
transfer).
________________________________________________________________
11.9.2.2 Addressing by means of index and subindex
byte
A parameter (a Lenze code) is addressed as per the following formula:

Index = 24575 - (Lenze code number)
Example
The C00011 parameter (motor reference speed) is to be addressed.
Calculation:
• Index:
• Decimal: 24575 - 11 = 24564
• Hexadecimal: 0x5FFF - 0xB = 0x5FF4
• Subindex: 0x00 (subindex 0 since the parameter does not have any subcodes)
Entries:
0xF4 0x5F 0x00
________________________________________________________________
11.9.2.3 Data 1 ... Data 4
byte
Maximally 4 bytes are available for parameter value entries. Depending on the data format, they are
assigned as follows:
5th byte 6th byte 7th byte 8th byte

Parameter value (1 byte) 0x00 0x00 0x00
Parameter value (2 bytes) 0x00 0x00
LOW byte HIGH byte
Parameter value (4 bytes)
LOW word HIGH word
 Note!
The "Factor" column of the Table of attributes contains a so-called scaling factor for all
Lenze parameters. The scaling factor is relevant to the transfer of parameter values
which have one or more decimal positions in the parameter list.
If the scaling factor is > 1, the value must be multiplied by the indicated scaling factor
prior to transmission to be able to transfer the value as an integer. At the SDO client end,
the integer must be divided by the scaling factor to obtain the original value including
decimal positions again.
Example
A value of "123.45" is to be transmitted for a code, unit: "%" (e.g. C00039/1: "Fixed setpoint-JOG1").
In controllers of the 8400 series, parameters with the "%" unit have two decimal positions and hence
a scaling factor of "100".
Calculation:
• Value to be transmitted = scaling factor x value
• Data (1 ... 4) = 100 x 123.45 = 12345 (0x00 00 30 39)
Entries:
0x39 0x30 0x00 0x00
________________________________________________________________
11.9.2.4 Error messages
Command Index Subindex Error code
0x80 LOW byte HIGH byte LOW word HIGH word
(128) LOW byte HIGH byte LOW byte HIGH byte
In the event of an error, the addressed node generates a telegram with the "Error response" (0x80)
command.
• The telegram includes the index and subindex of the code where the error occurred.
• The error code is entered in bytes 5 ... 8.
• The error codes are standardised according to DS301, V4.02.
• The representation of the error codes is provided in reverse read direction (see example
below).
Example
Representation of error code "0x06 04 00 41" in bytes 5 ... 8:
Command Index Subindex Error code
0x41 0x00 0x04 0x06
________________________________________________________________
Meaning of the error codes

The error codes are standardised acc. to DS301, V4.02.
Error code Explanation

0x0503 0000 Toggle bit not changed
0x0504 0000 SDO protocol expired
0x0504 0001 Invalid or unknown client/server command specifier
0x0504 0002 Invalid block size (only block mode)
0x0504 0003 Invalid sequence number (only block mode)
0x0504 0004 CRC error (only block mode)
0x0504 0005 Not sufficient memory
0x0601 0000 Object access not supported
0x0601 0001 Attempt to read a write-only object
0x0601 0002 Attempt to write to a read-only object
0x0602 0000 Object not listed in object directory
0x0604 0041 Object not mapped to PDO
0x0604 0042 Number and length of objects to be transferred longer than PDO length.
0x0604 0043 General parameter incompatibility
0x0604 0047 General internal device incompatibility
0x0606 0000 Access denied because of hardware error
0x0607 0010 Unsuitable data type, unsuitable service parameter length
0x0607 0012 Unsuitable data type, service parameter length exceeded
0x0607 0013 Unsuitable data type, service parameter length not long enough
0x0609 0011 Subindex does not exist
0x0609 0030 Parameter value range exceeded
0x0609 0031 Parameter values too high
0x0609 0032 Parameter values too low
0x0609 0036 Maximum value falls below minimum value
0x0800 0000 General error
0x0800 0020 Data cannot be transferred/saved for application.
0x0800 0021 Data cannot be transferred/saved for application due to local control.
0x0800 0022 Data cannot be transferred/saved for application due to current device status.
0x0800 0023 Dynamic generation of object directory failed or no object directory available (e.g. object
directory generated from file, generation not possible because of a file error).
________________________________________________________________
11.9.3 Parameter data telegram examples
11.9.3.1 Read parameters

Task: The heatsink temperature of 43 °C (code C00061, data format INTEGER16, scaling factor 1) of
the controller with node address "5" is to be read.
Telegram to drive
Identifier User data

0x0605 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00
Explanations on the telegram to the drive

Identifier = 1536 + node address = 1536 + 5 = 1541 = 0x0605
(1536 = SDO1 basic identifier to the controller)
Command = 0x40 = "Read request" (read request of a parameter from the controller)
Index = 24575 - code number = 24575 - 61 = 24514 = 0x5FC2
Subindex = 0 (code C00061 does not have any subcodes)
Response telegram from drive (if data have been correctly transmitted)

Command Index Subindex Data 1 Data 2 - -
0x0585 0x4B 0xC2 0x5F 0x00 0x2B 0x00 - -
Explanations on the telegram from the drive

(1408 = SDO1 basic identifier from the controller)
Command = 0x4B = "Read Response" (response to the read request with current value)
Index as in telegram to the drive
Subindex
Data 1 ... 2 = 0x002B = 43 [°C]
________________________________________________________________
11.9.3.2 Write parameters

Task: The rated current of the connected motor is to be entered with IN = 10.20 A (code C00088) into
the controller with node address "2".
Data 1 ... 4 Calculation

Value for motor current, (data type U16; display factor 1/100) 10.20 x 100 = 1020 (0x03 FC)
Telegram to drive

0x0602 0x23 0xA7 0x5F 0x00 0xFC 0x03 0x00 0x00

Command = 0x23 = "Write request" (write request of a parameter to the controller)
Index = 24575 - code number = 24575 - 88 = 24487 = 0x5FA7
Data 1 ... 4 = 10.20 x 100 = 1020 = 0x000003FC
(motor current value; data type U32; display factor 1/100)
Response telegram from drive (if data have been correctly transmitted)

0x0582 0x60 0xA7 0x5F 0x00 0x00 0x00 0x00 0x00

Command = 0x60 = "Write response" (Acknowledgement of the write access from the controller)
Subindex
________________________________________________________________
11.9.3.3 Read block parameters

Task: The firmware version (code C00099) is to be read from the parameter set of the controller with
node address "12". The firmware version has a length of 11 ASCII characters which are transmitted
as a block parameter. Depending on the block, the data width from the 2nd to 8th byte is assigned
within the user data.
Telegram 1 to the drive: Read request

0x060C 0x40 0x9C 0x5F 0x00 0x00 0x00 0x00 0x00

Identifier = 1536 + node address = 1536 + 12 = 1548 = 0x060C
Command = 0x40 = "Read request" (read request of a parameter from the controller)
Index = 24575 - code number = 24575 - 99 = 24476 = 0x5F9C
Response telegram 1 from the drive: Indication of the block length (11 characters)

0x058C 0x41 0x9C 0x5F 0x00 0x0B 0x00 0x00 0x00

Identifier = 1408 + node address = 1408 + 12 = 1420 = 0x058C
Command = 0x41 = "Read response" (response is block telegram)
Subindex
Data 1 ... 4 = 0x0000000B = data length of 11 characters in the ASCII format
________________________________________________________________
Telegram 2 to the drive: Request of the 1st data block

Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7
0x060C 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Command = 0x60 = "Read segment request" (request: read data block)
• Bit 4 = 0 (toggle bit)
Influence of the toggle bit on the request command
The single blocks are toggled one after another, i.e. first the request is made with the "0x60"
command (= 0b0110*0000), then with the "0x70" command (= 0b0111*0000), and then again
with the "0x60" command, etc.
* Toggle bit
Response telegram 2 from the drive: Transmission of the 1st data block

0x058C 0x00 0x30 0x31 0x2E 0x30 0x30 0x2E 0x30
0asc 1asc .asc 0asc 0asc .asc 0asc

Command = 0x00 = 0b00000000
Influence of the toggle bit on the transmission command
• The 1st response of the controller in the command byte is "0b0000*0000" if bytes 2 ... 8 are
completely filled with data and other telegrams are following.
• The 2nd response of the controller in the command byte is "0b0001*0000" if bytes 2 ... 8 are
completely filled with data and other telegrams are following, etc.
* Toggle bit
Data 1 ... 7 = "01.00.0" (ASCII representation)
________________________________________________________________
Telegram 3 to the drive: Request of the 2nd data block

0x060C 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Explanations on telegram 3 to the drive

Command = 0x70 = "Read segment request" (request: read data block)
Response telegram 3 from the drive: Transmission of the 2nd data block including end identifier

0x058C 0x17 0x30 0x2E 0x30 0x30 0x00 0x00 0x00
0asc .asc 0asc 0asc - - -
Explanations on telegram 3 from the drive

Command = 0x17 = 0b00010111:
• Bit 0 = 1 (end of transmission)
• Bit 1 ... bit 3 = 0b011 (3 bytes do not contain any data)
Influence of the final bit and the residual data length on the transmission command
• The end of transmission is signalled via the set final bit 0.
• Bits 1 ... 3 reveal the number of bytes that do not contain any data anymore.
* Toggle bit
Data 1 ... 7 = "0.00" (ASCII representation)
The result of the data block transmission is: "01.00.00.00"
11.10 Monitoring
________________________________________________________________
11.10 Monitoring
11.10.1 Integrated error detection
If a node detects an error, it rejects the CAN telegram bits received so far and transmits an error flag.
The error flag consists of 6 consecutive bits with the same logic value.
The following errors are detected:
Fault Description
Bit error The sending node follows the transmission on the bus and interrupts the
transmission if it receives a different logic value than the value transmitted. With
the next bit, the sending node starts the transmission of an error flag.
In the arbitration phase, the transmitter only detects a bit error if a dominantly sent
bit is received as recessive bit. In the ACK slot as well, the dominant overwriting of a
recessive bit is not indicated as a bit error.
Stuff-bit error If more than 5 consecutive bits have the same logic value before the ACK delimiter
in the telegram, the previously transmitted telegram will be rejected and an error
flag will be sent with the next bit.
CRC error If the received CRC checksum does not correspond to the checksum calculated in the
bus controller, the bus controller will send an error flag after the ACK delimiter and
the previously transmitted telegram will be annulled.
Acknowledgement error If the sent ACK slot recessively sent by the transmitting node is not dominantly
overwritten by a receiver, the transmitting node will cancel the transmission. The
transmitting node will annul the transmitted telegram and will send an error flags
with the next bit.
Format error If a dominant bit is detected in the CRC delimiter, in the ACK delimiter or in the first
6 bits of the EOF field, the received telegram will be rejected and an error flag will be
sent with the next bit.
 Tip!
The errors mentioned before indicate that a physical error has occurred in the bus system.
Possible causes are:
• Several nodes with identical node address
• Wrong baud rate of one or several nodes
• Too high cable length
• Too many or no terminating resistors
• Too high bus load/too many data telegrams
(e.g. since a node permanently transmits event-controlled due to data changes of an
analog signal/actual value.)
• EMC interferences on the system bus
(e.g. since the CAN bus cable next to the motor cable is unshielded.)
C00364 displays whether such an error is active.
11.10 Monitoring
________________________________________________________________
11.10.2 Heartbeat protocol
The heartbeat protocol can be used for node monitoring purposes within a CAN network.
Basic workflow
+HDUWEHDWSURGXFHU +HDUWEHDWFRQVXPHUV

UHTXHVW LQGLFDWLRQ
U V
+HDUWEHDWSURGXFHUWLPH
+HDUWEHDWFRQVXPHU
LQGLFDWLRQ
LQGLFDWLRQ
WLPH

UHTXHVW LQGLFDWLRQ
U V
+HDUWEHDWFRQVXPHU
LQGLFDWLRQ
LQGLFDWLRQ
WLPH
LQGLFDWLRQ
(0(5*(1&< +HDUWEHDW
HYHQW
107PDVWHU
r: Reserved (always 0)
s: Status of the producer (0: Boot-up, 4: Stopped, 5: Operational, 127: Pre-Operational)
[11-9] Heartbeat protocol
1. A heartbeat producer cyclically transmits a so-called heartbeat telegram to one or more

consumers.
2. The consumer(s) monitor the heartbeat telegram for arrival on a regular basis.
11.10.2.1 Telegram structure

• The heartbeat telegram of the producer has the following identifier:
Identifier (COB-ID) = 1792 + producer's node address
• The user data (1 byte) contain the status (s) of the producer:
Heartbeat producer status Data

Communication status Decimal value (r) Producer status (s)
(s)
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Boot-up 0 0 0 0 0 0 0 0 0
Stopped 4 0 0 0 0 0 1 0 0
Operational 5 0 0 0 0 0 1 0 1
Pre-Operational 127 0 1 1 1 1 1 1 1
11.10 Monitoring
________________________________________________________________
11.10.2.2 Parameter setting
Short overview of the parameters for the "Heartbeat" monitoring function:
Parameter Info Lenze setting Assignment

Value Unit Consumer Producer
C00347/1...n CAN status - 

of the heartbeat producer 1 ... n
C00381 Heartbeat producer time 0 ms 
C00385/1...n CAN node address 0 
of the heartbeat producer 1 ... n
C00386/1...n Heartbeat consumer time 0 ms 
for the heartbeat producer 1 ... n
C00592/5 Resp. to heartbeat event No response 
Heartbeat producer time

Time interval for the transmission of the heartbeat telegram to the consumer(s).
• Parameterisable in C00381 or via object I-1017. The parameterised time is rounded down to an
integer multiple of 5 ms.
• The heartbeat telegram is sent automatically as soon as a time > 0 ms is set.
Heartbeat consumer time

Monitoring time for the nodes (producers) to be monitored.
• Parameterisable in C00386/1...n or via object I-1016.
• The parameterised time is rounded down to an integer multiple of 5 ms and must have a greater
value than the heartbeat producer time of the node to be monitored.
• The maximum number of the nodes to be monitored depends on the device version:
• "BaseLine C": 1 Heartbeat Producer can be monitored.
• "StateLine C": Up to 7 Heartbeat Producers can be monitored.
• "HighLine C": Up to 15 Heartbeat Producers can be monitored.
• "TopLine C": Up to 15 Heartbeat Producers can be monitored.
• The node address(es) of the nodes to be monitored is/are set in C00385/1...n or via object I-
1016, too.
Heartbeat event
The "Heartbeat event" is activated in the consumer if it does not receive any heartbeat telegram
from the producer within the heartbeat consumer time:
• The consumer changes from the "Operational" communication status to the "Pre-Operational"
communication status.
• The NMT master receives an emergency telegram containing emergency error code 0x8130.
• The response parameterised in C00592/5 is activated (Lenze setting: "No response").
11.10 Monitoring
________________________________________________________________
 Note!
The heartbeat monitoring will not start until the first heartbeat telegram of a monitored
producer has been received successfully and the "Pre-Operational" NMT status has been
assumed.
The boot-up telegram counts as the first heartbeat telegram.
11.10.2.3 Commissioning example
Task
An 8400 controller (node 2) which is configured as heartbeat consumer is to monitor another 8400
controller (heartbeat producer, node 1).
• The heartbeat producer is to transmit a heartbeat telegram to the heartbeat consumer every
10 ms.
• The heartbeat consumer monitors the heartbeat telegram for arrival. A response is to be
activated in the event of an error.
Parameterising the heartbeat producer (node 1)

1. Set the heartbeat producer time (C00381) to 10 ms.
Parameterising the heartbeat consumer (node 2)

1. Set the CAN node address of the producer in C00385/1.
2. Set the heartbeat consumer time in C00386/1.
• Note: The heartbeat consumer time must be greater than the heartbeat producer time of the
node to be monitored set in C00381.
3. Set the desired response in C00592/5 which is to be activated should a heartbeat event in the
consumer occur.
 Tip!
C00347/1...n displays the heartbeat status of the monitored nodes.
Heartbeat telegram
• The heartbeat telegram of the producer has the following identifier:
Identifier (COB-ID) = 1792 + producer's node address = 1792 + 1 = 1793 = 0x701
11.10 Monitoring
________________________________________________________________
11.10.3 Emergency telegram
If the error status changes because an internal device error occurs or has been eliminated, the NMT
master receives an emergency telegram once with the following structure:
Emergency error codes Error register Manufacturer-specific error message
LOW byte HIGH byte I-1001 0x00 LOW word HIGH word
(Reserved) LOW byte HIGH byte LOW byte HIGH byte
See table below • For emergency error code 0xF000: Lenze error number
(value displayed in C00168)
• All other emergency error codes have a value of "0" here.
Emergency error codes Error register Cause

0x0000 0xXX One of several errors eliminated
0x00 One error has been eliminated (error-free status afterwards)
0x3100 0x01 Supply voltage of standard device faulty or failed
0x8100 0x11 Communication error (warning)
0x8130 0x11 Life guarding error or heartbeat error
0x8150 0x11 Collision of identifiers (COB-IDs): An identifier parameterised for
reception is also used for transmission.
0x8210 0x11 PDO length shorter than expected
0x8220 0x11 PDO length greater than expected
0x8700 0x11 Monitoring of the sync telegram
0xF000 0x01 Generic error
• An error with a "Fault", "Trouble", "TroubleQSP", "Warning", or
"SystemFault" error response occurred in the standard device.
• Error message is the Lenze error number (C00168).
The Short overview (A-Z) of error messages of the operating system includes a list of more
emergency error codes. ( 450)
Example
Emergency error codes Error register Manufacturer-specific error message
0x00 0xF0 0x01 0x00 Lenze error number
Generic error (Reserved) Error messages of the operating system
Corresponding error-free message: Value
"0x00000000"
 Tip!
A detalied description can be found in CAN specification DS301, V4.02.
11.11 Implemented CANopen objects
________________________________________________________________
Lenze devices can both be parameterised with Lenze codes and manufacturer-independent
"CANopen objects". A completely CANopen-compliant communication can only be achieved by
using CANopen objects for parameter setting. The CANopen objects described in this chapter are
defined in the CAN specification DS301 V4.02.
Many CANopen objects can be mapped on Lenze codes. In the following table, the corresponding
Lenze codes are listed in the column "Relationship to Lenze codes".
 Note!
Some of the terms used here derive from the CANopen protocol.
Overview of CANopen indices and their relationship to Lenze codes
CANopen object Relationship to Lenze

code
Index Subindex Name
I-1000 0 Device type -
I-1001 0 Error register -
I-1003 Predefined error field
0 Number of errors -
1 ... 10 Standard error field -
I-1005 0 COB-ID SYNC message C00367
C00368
I-1006 0 Communication cycle period C00369
I-1014 0 COB-ID EMCY -
I-1016 Consumer heartbeat time
0 Highest subindex supported -
1 ... n Consumer heartbeat time C00385/1...n
• "BaseLine C" version: n = 1 C00386/1...n
• "StateLine C" version: n = 7
• "HighLine C" version: n = 15
• "TopLine C" version: n = 15
I-1017 0 Producer heartbeat time C00381
I-1018 Identity object
1 Vendor ID -
2 Product code -
3 Revision number -
4 Serial number -
I-1200 SDO1 server parameter
1 COB-ID client −> server (rx) -
2 COB-ID server −> client (tx) -
1 COB-ID client −> server (rx) -
2 COB-ID server −> client (tx) -
________________________________________________________________

code
Index Subindex Name
I-1400 RPDO1 communication parameter
1 COB-ID used by RPDO C00355/1
2 Transmission type C00323/1
I-1403 RPDO4 communication parameter (from version 15.00.00)
I-1600 RPDO1 mapping parameter
0 Number of mapped application objects in PDO -
1 ... 4 Application object 1 ... 4 C00409/1...4
C00866/1...4
C00866/5...8
C00866/9...12
I-1603 RPDO4 mapping parameter (from version 15.00.00)
C00866/13...16
I-1800 TPDO1 communication parameter
1 COB-ID used by TPDO C00355/2
3 Inhibit time C00324/2
5 Event timer C00356/5
C00369
________________________________________________________________

code
Index Subindex Name
C00369
C00369
I-1803 TPDO4 communication parameter (from version 15.00.00)
C00369
I-1A00 TPDO1 mapping parameter
I-1A03 TPDO4 mapping parameter (from version 15.00.00)
11.11 Implemented CANopen objects | I-1000
________________________________________________________________
I-1000
Index Name:
I-1000 Device type
Subindex Default setting Display range (min. value | unit | max. value) Access Data type
0: Device type 0 0 4294967295 ro U32
The CANopen index I-1000 specifies the profile for this device. Furthermore, additional information
defined in the device profile itself can be stored here.

Data 4 Data 3 Data 2 Data 1
HIGH word LOW word
HIGH byte LOW byte HIGH byte LOW byte
Additional information Device profile number
[11-1] Data telegram assignment
In case of 8400 series controllers, the four bytes contain the following values:
• 5th and 6th byte: The data content is 0x0000, i.e. no profile definition.
• 7th byte: The data content specifies the device type: Here the value is 0x00 for controllers.
• 8th byte: The data content is 0x00.
The data content for the 8400 controller thus is: 00 00 00 00
I-1001
Index: Name:
I-1001 Error register
0: Error register - 0 255 ro U8
Error register
The error status in the data byte (U8) is bit coded. The following error states are coded in the data
byte (U8):
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Error status
0 0 0 0 0 0 0 0 No error
0 0 0 0 0 0 0 1 Device error message
0 0 0 1 0 0 0 1 Communication error
________________________________________________________________
I-1003
Index: Name:
I-1003 Predefined error field
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of errors 0 0 255 rw U8
1 ... 10: Standard error field - 0 4294967295 ro U32
Error history
This object indicates that an error has occurred in the module and in the standard device.
Subindex Meaning
0 Number of saved error messages
1 ... 10 Display of the error list
The error messages (U32) consist of a 16-bit error code and a manufacturer-specific
information field comprising 16 bits.
 Note!
The values in the "standard error field" under subindex 1 ... 10 will be deleted if the
subindex "number of recorded errors" is overwritten with the value "0".
Emergency Cause Entry in the

error codes error register
(I-1001)
0x0000 One of several errors eliminated 0xXX
Elimination of one single error 0x00
(afterwards no more errors)
0x1000 Standard device is in error status (error response "fault", "message", 0x01
"warning", "error", "quick stop by trouble", or "system error")
0x3100 Supply voltage of standard device faulty or failed 0x01
0x8100 Communication error (warning) 0x11
0x8130 Life guard error or heartbeat error 0x11
0x8150 Collision of COB-IDs: An ID parameterised for reception is also used 0x11
for transmission.
0x8210 PDO length shorter than expected 0x11
0x8220 PDO length greater than expected 0x11
0x8700 Monitoring of the sync telegram 0x11
________________________________________________________________
I-1005
Index: Name:
I-1005 COB-ID SYNC message
0: COB-ID SYNC message 0x0000 0080 0 4294967295 rw U32
or
0x8000 0080
This object can be used to activate the generation of sync telegrams and to write the identifier
value.
• This object relates to codes C00367 and C00368.
Creating sync telegrams

Sync telegrams are created by setting bit 30 (see below) to "1". The time between the sync telegrams
can be set using the object I-1006.
Writing identifiers
To receive PDOs, the value 0x80 must be entered in the 11-bit identifier in the Lenze setting (and
according to CANopen specification) . This means that all modules are by default set to the same
sync telegram.
• If sync telegrams are only to be received by certain communication modules, their identifiers
can be entered with values up to and including 0x07FF.
• The identifier can only be changed if the communication module does not send any sync
telegrams (bit 30 = "0").
• How to change the identifier:
• Deactivate identifier (set bit 30 to "0").
• Change identifier.
• Activate identifier (set bit 30 to "1").

Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
X 0/1 Extended identifier* 11-bit identifier

* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".
________________________________________________________________
I-1006
Index: Name:
I-1006 Communication cycle period
0: Communication cycle period 0 μs 0 μs 65535000 rw U32
Setting the sync telegram cycle time.

• The cycle time can be selected as "1000" or as an integer multiple of it.
• If "0 μs" is set (Lenze setting), no sync telegrams are created.
• This object relates to code C00369.
I-1014
Index: Name:
I-1014 COB-ID EMCY
0: COB-ID EMCY 0x80 + node ID 0 4294967295 rw U32
When communication errors occur and are acknowledged or when internal errors occur in the
communication module or controller (e.g. "fault"), the system bus sends an error message. The
telegram is sent once for every error. This function can be activated or deactivated with bit 31.

0/1 0 Extended identifier* 11-bit identifier

Bit Setting
Bit 31 0 Emergency object is valid.
1 Emergency object is invalid.
 Note!
The identifier can only be changed in the "emergency object invalid" status (bit 31 = 1).
________________________________________________________________
I-1016
Index: Name:
I-1016 Consumer heartbeat time
0: Highest subindex supported BaseLine C: 1 - (read access only) ro U16
StateLine C: 7
HighLine C: 15
TopLine C: 15
1 ... n: Consumer heartbeat time 0 0 65535 rw U16
Monitoring time for the nodes to be monitored via heartbeat. Heartbeat protocol ( 537)
• The parameterised time is rounded down to an integer multiple of 5 ms and must have a greater
value than the heartbeat producer time of the node to be monitored.
Subindex Meaning Lenze code

0 Number of nodes to be monitored
1 ... n Node ID and heartbeat time of the node to be monitored Node ID:
C00385/x
Heartbeat time:
C00386/x

Bit 31 ... bit 24 Bit 23 ... Bit 16 Bit 15 ... Bit 0
0 Node ID Heartbeat time
(Reserved) in [ms]
________________________________________________________________
I-1017
Index: Name:
I-1017 Producer heartbeat time
0: Producer heartbeat time 0 0 ms 65535 rw U16
Time interval for sending the heartbeat telegram to the consumer(s).Heartbeat protocol ( 537)
• The parameterised time is rounded down to an integer multiple of 5 ms.
• The heartbeat telegram is automatically sent as soon as a time > 0 ms is entered. In this case,
the "node guarding" monitoring function is deactivated.
• This object relates to code C00381.
I-1018
Index: Name:
I-1018 Identity object
0: Highest subindex supported see below 0 4294967295 ro U32
1: Vendor ID
2: Product code
3: Revision number
4: Serial number
Subindex Meaning
1 Manufacturer's identification number
• The identification number allocated to Lenze by the organisation "CAN in
Automation e. V." is "0x0000003B".
2 Product code
0x84001 8400 BaseLine C
0x84002 8400 StateLine C
0x84003 8400 HighLine C
0x84004 8400 TopLine C
3 Main and subversion of firmware
4 Serial number
________________________________________________________________
I-1200
Index: Name:
0: Highest subindex supported 2 2 2 ro U8
1: COB-ID client -> server (rx) node ID + 0x600 0 4294967295 ro U32
2: COB-ID server -> client (tx) node ID + 0x580 0 4294967295 ro U32
Identifiers for SDO server channel 1 (basic SDO channel).

• According to DS301 V4.02, the basic SDO channel can neither be changed nor deactivated.
Subindex Meaning
1 Specification of receive identifier
• For SDO server channel 1: node address (C00350) + 0x600
2 Specification of send identifier
• For SDO server channel 1: node address (C00350) + 0x580

0 0 Extended identifier* 11-bit identifier

________________________________________________________________
I-1201
Index: Name:
0: Highest subindex supported 3 - (read access only) ro U8
1: COB-ID client -> server (rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (tx) 0x80000000 0 4294967295 rw U32
Identifiers for SDO server channel 2.

• The SDO server parameter is only valid, if bit 31 is set to "0" for both transmission directions
(subindex 1 and 2).
• In the Lenze setting, the SDO server channels 2 are deactivated (bit 31 = "1").
• The identifier can only be changed if the SDO is invalid (bit 31 = "1").
Subindex Meaning
1 Specification of receive identifier
2 Specification of send identifier

0/1 0 Extended identifier* 11-bit identifier

Bit Setting
Bit 31 0 SDO is valid.
1 SDO is invalid.
How to change the identifier:

1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
________________________________________________________________
Example
Parameter data channel 2 of the controller with node address 4 shall be activated.
• For this, bit 31 must be set to "0" (≡ "SDO is valid") in subindices 1 and 2 of the object I-1201.
• The master must send the two "write request" commands to the nodes via the basic SDO
channel.
Identifier calculation
• Identifier (COB-ID) = basic identifier + node address (node ID)
• Basic identifier SDO2 from master to drive: 1600 (0x640)
 Identifier = 0x640 + 0x4 = 0x644
• Basic identifier SDO2 from drive to master: 1472 (0x5C0)
 Identifier = 0x5C0 + 0x4 = 0x5C4
Resulting data (data 1 ... data 4)

0 0 Extended identifier = 0 11-bit identifier = 0x644

0x00 0x00 0x06 0x44
[11-7] Data telegram assignment for subindex 1

0 0 Extended identifier = 0 11-bit identifier = 0x5C4

0x00 0x00 0x05 0xC4
[11-8] Data telegram assignment for subindex 2
User data assignment
0x23 0x01 0x12 0x01 0x44 0x06 0x00 0x00
[11-9] User data assignment for writing to subindex 1
0x23 0x01 0x12 0x02 0xC4 0x05 0x00 0x00
[11-10] User data assignment for writing to subindex 2
________________________________________________________________
I-1400
Index: Name:
1: COB-ID used by RPDO 0x200 + node ID 0 4294967295 rw U32
2: Transmission type 254 0 255 rw U8
3: Inhibit time - - (not used for RPDOs) rw U16
4: Compatibility entry - - (reserved, read or write access leads to error message rw U8
0x06090011)
5: Event timer - - (not used for RPDOs) rw U16
Communication parameter for receiving process data via RPDO1
Subindex Meaning Code

0 "5" is permanently set. -
• Max. 5 subindices are supported.
1 RPDO1 identifier C00354/1
• According to the "Predefined Connection Set", the
basic setting is: Identifier = 0x200 + node ID
2 RPDO transmission type according to DS301 V4.02 C00323/1
Transmission type ( 519)

0/1 0/1 Extended identifier* 11-bit identifier


Description of subindex 1
Bit no. Value Explanation

0 ... 10 0/1 11-bit identifier
(11 ... 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".
29* 0
30 0 RTR to this PDO possible (cannot be set)
1 RTR to this PDO not possible (Lenze)
31 0 PDO active
1 PDO not active
[11-12] I-1400 ... I-1402, subindex 1
________________________________________________________________
Description of subindex 2
PDO transmission Transmission type Explanation

cyclic synchronous event-controlled
X X n = 1 ... 240 When a value n is entered, this PDO
will be accepted with every nth SYNC.
X n = 254 PDO will be accepted immediately.
[11-13] I-1400 ... I-1402, subindex 2
I-1401
Index: Name:
0x06090011)

• For data telegram assignment and description of subindices 1 and 2, see object I-1400.

________________________________________________________________
I-1402
Index: Name:
0x06090011)


________________________________________________________________
I-1403
Index: Name:
0x06090011)

1 Identifier RPDO4 C00354/7

________________________________________________________________
I-1600
Index: Name:
0: Number of mapped application 0 0 8 rw U8
objects in PDO
1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32
The object I-1600 serves to receive parameter data as RPDO1.

• This object relates to codes C00409/1...4 and C00866/1...4.
• From version 12.00.00 onwards: For 32-bit values, this object relates to codes C00407/1...2.
Subindex Meaning
0 Number of mapped objects
1 ... 4 Mapping entries 1 ... 4 for RPDO1
• The 4th mapping entry is used for the statistic mapping. For this, there is no value
available.

Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length
IEC 61131 process data words are mapped. Only whole bytes can be mapped (1-byte/mapping
entry).
Related topics:
RPDO1 | Port block "LP_CanIn1" ( 505)
________________________________________________________________
I-1601
Index: Name:
objects in PDO

Subindex Meaning
available.
• For data telegram assignment, see object I-1600.
Related topics:
RPDO2 | "LP_CanIn2" port block ( 507)
I-1602
Index: Name:
objects in PDO

Subindex Meaning
available.
Related topics:
________________________________________________________________
I-1603
Index: Name:
objects in PDO

• For 32-bit values, this object relates to the codes C00407/7...8.
Subindex Meaning
available.
Related topics:
________________________________________________________________
I-1800
Index: Name:
1: COB-ID used by TPDO 0x180 + node ID 0 4294967295 rw U32
3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: Reserved - - (reserved, read or write access leads to error message rw U8
0x06090011)
5: Event timer 0 ms 0 ms 65535 rw U16
Communication parameter for sending process data via TPDO1

1 TPDO1 identifier C00354/2
2 TPDO transmission type according to DS301 V4.02 C00322/1
3 Minimum time between sending two identical TPDOs C00324/2
(see DS301 V4.02).
5 Cycle time for PDO transmission with transmission type C00356/5
"254". C00369

0/1 0/1 Extended identifier* 11-bit identifier

Bit Setting
Bit 30 0 RTR to this PDO possible (Lenze).
1 RTR to this PDO not possible (not adjustable)
Bit 31 0 PDO active
1 PDO inactive

________________________________________________________________
Subindex 2 - transmission type
PDO transmission Transmission type Explanation

cyclic synchronous event-
controlled
  n = 1 ... 240 When a value n is entered, this PDO will be
accepted with every nth SYNC.
 n = 252 On sync, the PDO is filled with new data, but
only sent on RTR.
 n = 254, 255 Event-controlled or cyclic
Subindex 3 - inhibit time
 Note!
The delay time can only be changed when the PDO is not active (see subindex 1, bit 31 =
1).
The entered value multiplied by 0.1 gives the delay time in [ms]. Only integers will be considered,
i.e. fractional numbers will be rounded down to integers.
Example:
• Entered value: 26
• Calculated time = 26 x 0.1 [ms] = 2.6 [ms]  delay time = 2 [ms]
Subindex 5 - event timer

For cyclic operation (transmission type 254), the cycle time for sending the process data object on
the system bus can be set under subindex 5:
The entered value corresponds to the time in [ms].
________________________________________________________________
I-1801
Index: Name:
0x06090011)

(see DS301 V4.02).
"254". C00369
• For data telegram assignment and description of subindices, see object I-1800.

________________________________________________________________
I-1802
Index: Name:
0x06090011)

(see DS301 V4.02).
"254". C00369

________________________________________________________________
I-1803
Index: Name:
0x06090011)

1 Identifier TPDO4 C00354/8
(see DS301 V4.02).
"254". C00369

11.11 Implemented CANopen objects | I-1A00
________________________________________________________________
I-1A00
Index: Name:
objects in PDO
The object I-1A00 serves to send parameter data as TPDO1.

• This object relates to code C00868/1...4.
Subindex Meaning
1 ... 4 Mapping entries 1 ... 4 for TPDO1
available.

Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length
IEC 61131 process data words are mapped. Only whole bytes can be mapped (1-byte/mapping
entry).
Related topics:
TPDO1 | "LP_CanOut1" port block ( 513)
I-1A01
Index: Name:
objects in PDO

Subindex Meaning
available.
• For data telegram assignment, see object I-1A00.
Related topics:
11.11 Implemented CANopen objects | I-1A02
________________________________________________________________
I-1A02
Index: Name:
objects in PDO

Subindex Meaning
available.
Related topics:
I-1A03
Index: Name:
objects in PDO

Subindex Meaning
available.
Related topics:
11.12 Internal interfaces | System block "LS_CANManagement"
________________________________________________________________
11.12 Internal interfaces | System block "LS_CANManagement"
The LS_CANManagement system block serves to control internal functions of the CAN driver (reset
node and re-initialisation) and to display the "Operational" status as well as the node address
(analogous to the 9300 ServoPLC and ECS devices).
/6B&DQ0DQDJHPHQW
E5HVHW1RGH E)DLO
E5H,QLW&DQ ; E2SHUDWLRQDO
&* &/ &+
Z1RGH,'
Inputs

Data type
bResetNode Reset node

BOOL
TRUE Carry out reset node
• If the controller is configured as CAN master in C00352, the NMT
command "Start Remote Node" is sent to all nodes at the bus
(broadcast telegram). Network management telegram (NMT)
bReInitCAN Reinitialisation
BOOL
TRUE Reinitialise "CAN on board" interface.
Outputs
Data type
bFail Fault
BOOL
TRUE An event according to the error configuration in C00341 has
occurred
bOperational "Operational" status signal
BOOL
TRUE The system bus is in the "Operational" status
wNodeID Output of the node address
WORD
 Note!
If a "Bus off" error is detected, the "CAN on board" interface will automatically be
reinitialised after 1 second.
Hence, 1 second after the "Bus off" has occurred, the controller will automatically be
active again on the system bus ("Auto bus off recovery").
12 Fieldbus interface (MCI)
________________________________________________________________

The Inverter Drives 8400 can accommodate plug-in communication modules and can therefore take
part in the data transfer of an existing fieldbus system.
When using a communication module, the major advantage for the user is the possibility of
parameterising, controlling, and diagnosing the drive system via the available fieldbus.
The following fieldbuses are supported by the 8400 StateLine:
Fieldbus Communication module (type designation)

System bus "CAN on board" (permanently integrated in the standard device)
EtherCAT® (E84AYCET)
Ethernet POWERLINK (E84AYCEC)
EtherNet/IP™ (E84AYCEO)
INTERBUS (E84AYCIB)
PROFIBUS® (E84AYCPM)
PROFINET® (E84AYCER)
 Detailed information is provided in the communication manual (KHB) for the respective
fieldbus and in the »Engineer« online help.
________________________________________________________________
The process data serve to control the controller. Thus the transfer of the process data is time-critical.
• The process cycle is 1 ms, irrespective of the respectively plugged-in bus system and the type of
drive controller.
• Process data transfer takes place cyclically between the master system and the drive controllers.
• This concerns the continuous exchange of current input and output data.
• In the case of the 8400 drive controller, 16 words per direction are exchanged.
• The master computer can directly access the process data.
Access to the process data takes place via the port blocks LP_MciIn and LP_MciOut (see FB
interconnection of the »Engineer«).
These port blocks are also called process data channels.
• The process data are not saved in the controller.
)LHOGEXV
&RPPXQLFDWLRQPRGXOH
0&,LQWHUIDFH
/3B0FL,Q " /3B0FL2XW "

E&WUOB% E6WDWHB%
E&WUOB% E6WDWHB%
Z&WUO Z6WDWH
E,QB% E2XWB%
E,QB%
$SSOLFDWLRQ E2XWB%
)%LQWHUFRQQHFWLRQ
Z,Q Z2XW
Z,Q Z2XW
GQ,QBS GQ2XWBS
[12-1] External and internal data transfer between bus system, drive controller and function block interconnection
________________________________________________________________
Voltage supply
Depending on the complexity and functional range of the fieldbus, the communication modules are
supplied by the standard device or an external 24 supply at the module.
The external 24 V voltage supply of the communication module is required if the supply of the
standard device fails but the communication via the bus is to continue.
Parameter setting of the communication modules

All codes which must be parameterised for establishing the fieldbus communication are saved in
the memory module of the controller.
The archived data can be addressed by all bus systems supported by the controller.
Hotplug
The communication module (MCI module) can be plugged in/out while the controller is switched
on. When the module is plugged in, it is automatically detected and checked for plausibility
regarding the function and version.
Fieldbus-specific device profiles and PDO mapping

When specific bus systems are used, the controller is to behave according to a defined,
manufacturer-spanning standard. The following definitions have been made for this:
• Definitions of the device state machine (e.g. DSP402, DriveCOM, ProfiDrive etc.)
• Definition of the bit assignment of control and status words
• Definition of signal scaling (on a limited scale)
• Definition of parameter scaling (on a limited scale)
• Definition of the process data mapping
These device profiles are not mapped in the communication module since some definitions have a
strong effect on the device-internal behaviour and the device profiles are not uniform regarding this
matter.
• The task of the communication modules is
• to address parameters (SDOs),
• to transfer PDOs and
• the signal mapping of the PDOs.
• The process data objects (e.g. the meaning of the control word bits or the speed setpoint
stipulated) are interpreted in the drive controller.
12.2 Control mode "MCI"
________________________________________________________________
"40: MCI" can be selected as a control mode in C00007 in order to quickly and easily set-up drive
controller control by means of MCI-PDOs via the fieldbus interface.
Given that the technology applications are fundamentally different and have different
requirements regarding the signals sent to them, predefined assignment of the MCI-PDOs depends
on the technology application selected in C00005:
• TA "Actuating drive speed":
• TA "Abschaltpositionierung":
 Tip!
The predefined assignment of the MCI-PDOs can be parameterised by means of PDO
mapping and can be freely configured on the I/O level in the function block editor (FB
editor).
________________________________________________________________
12.2.1 Port block "LP_MciIn"
The LP_MciIn port block maps the received MCI-PDOs in the FB Editor.
/3B0FL,Q
E&WUOB%

:25'WR%,7
E&WUOB%

& E&WUOB%

&
E&WUOB%

E&WUOB%

Z&WUO
E,QB%

:25'WR%,7
E,QB%

& E,QB%

&
E,QB%

)LHOGEXV 0&,
E,QB%
Z,Q
& Z,Q
& Z,Q
& Z,Q
& Z,Q
& Z,Q
& Z,Q
& Z,Q
:25' :25'
GQ,QBS
',17
:25' :25'
GQ,QBS
',17
:25' :25'
GQ,QBS
',17

Outputs dnIn56_p and dnIn78_p are available from version 11.00.00!
Short overview of the parameters for LP_MciIn:

C00876/1 LP_MciIn:wCtrl -
C00876/2...16 LP_MciIn: wIn2 ... wIn16 -
C00890/1 LP_MciIn: Inversion bCtrl_B0..15 0x0000
C00890/3 LP_MciIn: Inversion bIn2_B0..15 0x0000
________________________________________________________________
12.2.2 Port block "LP_MciOut"
The LP_MciOut port block maps the MCI-PDOs to be transmitted in the FB Editor.
/3B0FL2XW
E6WDWHB%

%,7WR:25'
E6WDWHB% &
E6WDWHB%

E6WDWHB%
E6WDWHB%

Z6WDWH &

E2XWB%

%,7WR:25'
E2XWB% &
E2XWB%

E2XWB%
E2XWB%
0&, )LHOGEXV
Z2XW &

Z2XW &

Z2XW &

Z2XW &
Z2XW &
:25' :25'
GQ2XWBS
',17
dnOut34_p input is available from version 06.00.00!
Short overview of the parameters for LP_MciOut:

C00877/1 LP_MciOut:wState -
C00877/2...16 LP_MciOut: wOut2 ... wOut16 -
C00890/2 LP_MciOut: Inversion bState_B0..15 0x0000
C00890/4 LP_MciOut: Inversion bOut2_B0..15 0x0000
12.3 CAN gateway
________________________________________________________________
12.3 CAN gateway
The CAN gateway functionality forwards the read/write requests of the attached communication
module to a connected remote device via the "CAN on board" system bus. It also receives the
responses via this way.
• From the point of view of the attached communication module, the read/write requests are
identical to accesses to its own standard device.
• Block services (reading/writing parameters of the "String" data type) can also be executes via
the CAN gateway.
)LHOGEXV
&$1EXV
&$1DGGUHVV &$1DGGUHVV &$1DGGUHVV
&RPPXQLFDWLRQ &$1 &$1 &$1

PRGXOH RQERDUG
0&,LQWHUIDFH
&$1*DWHZD\
&
[12-2] Functional principle of "CAN gateway"
Activating the CAN gateway

To activate the CAN gateway, the CAN address (1 ... 127) of the connected remote device must be set
in C00387/1.
• In the Lenze setting C00387/1 = "0", the function is switched off.
• If the CAN gateway is activated, the own controller is the client and the remote device is the
server.
• If the own CAN address is set, the read/write requests are forwarded to the own controller.
• The parameters of the communication module (C13000 ... C13999) are always processed in the
own controller.
• The parameters C00387/1 (CAN gateway address) and C00350 (CAN node address) are not
transferred to the remote device.
13 Synchronisation of the internal time base
________________________________________________________________

In a drive system, synchronising the internal time bases of all controllers involved makes sense
because cyclic process data should be processed synchronously in all drives.
• One of the following signal sources can be used for automatic synchronisation of the internal
time base of the controller:
• CAN bus ("CAN on board")  sync telegram
• MCI  sync signal of a plugged-in communication module
(EtherCAT, PROFINET or Powerlink)
Short overview of the parameters for the synchronisation of the internal time base:

Value Unit
C00370/1 CAN Sync instant of transmission - μs

C00370/2 Sync instant of reception - μs
C01120 Sync signal source Off
C01121 Sync cycle time setpoint 1000 μs
C01122 Sync phase position 0 μs
C01123 Sync window 100 μs
C01124 Sync correction width 300 ns
Sync signal source

The synchronisation signal source can be selected in C01120. As a general rule, only one source can
be used to synchronise the internal time base.
Sync cycle time setpoint

Time after which the internal phase-locking loop (PLL) anticipates the synchronisation signals. The
time must be set in C01121 according to the cycle of the synchronisation source selected in C01120.
 Note!
• Only integer multiples of 1000 μs can be set in C01121.
• Intelligent communication modules usually define the cycle time setpoint derived
from the bus cycle. In this case, a manual change is not possible.
Example: For the CAN bus, 2 ms has been selected as interval between two synchronisation signals.
If the CAN bus is to be used as synchronisation source, a cycle time setpoint of 2000 μs must be
selected in C01121.
13.1 Internal interfaces | System block "LS_SyncManagement"
________________________________________________________________
Sync phase position

The phase position determines the zero-time of the internal system cycle with regard to the
synchronisation signal (bus cycle). Since PDO processing is an inherent part of the system part of the
application, the instant of acceptance of the PDOs is postponed as well by a changed phase position.
• If "0" is set, the internal system cycle starts at the same time as the synchronisation signal.
• If a value > 0 is set, the internal system cycle starts by the set time earlier (the phase position has
a negative effect) than the synchronisation signal.
• Intelligent communication modules define the optimal time with activated synchronisation by
themselves. In this case, a manual change is not possible.
• For determining C01122, the point in time where all bus nodes have valid PDOs is decisive.
Example: If the phase position is set to 550 μs, the system part of the application starts 550 μs
before the arrival of the synchronisation signal.
Sync correction width

If the cycle times of the synchronisation signal and the phase-locking loop (PLL) are different, the
setting in C01124 defines the correction increments for the phase-locking loop.
• The recommended reset time for the CAN bus as synchronisation source in case of occurring
deviations is 300 ns (Lenze setting).
• If synchronisation is not reached, select a higher correction width.
• The optimum setting depends on quartz precision and must be determined empirically if
required.
13.1 Internal interfaces | System block "LS_SyncManagement"
The SB LS_SyncManagement provides status information for synchronising the internal time base:
/6B6\QF0DQDJHPHQW
E6\QF6LJQDO2.
E6\QF3KDVH2.
W
6<1& 6<1&
Outputs
Data type
bSyncSignalOK TRUE Sync signal OK

BOOL
bSyncPhaseOK TRUE Sync phase position OK

BOOL
14 Parameter change-over
________________________________________________________________
For up to 32 freely selectable parameters, this basic function provides a change-over between four
sets with different parameter values.
The parameter list is created in the same way as the user menu is composed, namely by means of
parameterisation. In the »Engineer«, a user-friendly parameterisation dialog with import and
export functions is available for this purpose.
Motor data changeover

From version 12.00.00, an optional changeover between four parameter sets with different motor
and control settings is supported in addition.
The optional motor data changeover is provided for applications/machines which have multiple
axes controlled successively but which do not require the simultaneous operation of multiple
motors. In this case, the very same controller can control the motors successively. Advantages of this
solution: Fewer components (controllers) and hence less energy consumption.
Principle:
• The motor which is being controlled at the
moment is connected to the controller via
0 motor contactors. (The contactor system
Motordata parameterset 1
can e.g. be controlled via the digital
outputs of the controller.)
• At the same time, the motor data
changeover serves to activate the motor
and control settings suitable for the motor
in the controller.
Note:
The motor data changeover is carried out
within 2 ms and hence within the opening and
1 closing times of most motor contactors.
M1 M2 M3 M4
3~ 3~ 3~ 3~
 Motor data changeover
 Motor changeover (e.g. via motor contactors)
[14-1] Principle of the selective control of multiple motors using one controller
14.1 Configuring parameter change-over via the »Engineer« parameterisation dialog
________________________________________________________________
 Proceed as follows to open the dialog for parameterising the parameter change-over:
3. Go to the Overview dialog level and click the "Basic functions" button.
4. Go to the Overview  Basic functions dialog box and click the Parameter change-over
button.
 Note!
The "parameter change-over" basic function is always processed, even if the
corresponding LS_WriteParamList system block has been removed from the
interconnection by the function block editor.
If you do not require this basic function anymore, delete the composed parameter list in
order that no unwanted parameter write operations take place.
________________________________________________________________
14.1.1 Configuring the parameter list(s)
Configuring the definable parameter list

In the Lenze setting, the definable parameter list does not yet contain any parameters.
 How to configure the definable parameter list:

1. Click the Adapt... button.
• The dialog box entitled Configure WriteParamList is shown:
• On the left-hand side, all the parameters of the drive controller with write and read
access are shown in the list entitled Available parameters.
• If the option In menu groups is activated, all parameters are shown assigned to their
functions.
• By clicking on the button in the Filter area, you can shorten the list of available
parameters. If, for example, you enter the text "ain1" and then click on the button, only
those parameters whose designation contains this text are shown for selection.
2. Highlight the parameter/parameters in the Available parameters list that is/are to be
added to the WriteParamList.
• Here, you can use the <Ctrl> key and the<Shift> key for multiple selection, as in the case
of general Windows functions.
________________________________________________________________
3. Click on the button in order to add the highlighted parameters to the WriteParamList
on the right-hand side.
• With the and buttons, you can alter the sequence of parameters in the
WriteParamList.
To remove parameters from the WriteParamList, proceed as follows:
• Highlight the parameter/parameters in the WriteParamList that is/are to be removed
from the WriteParamList.
• Click on the button to remove the highlighted parameters from the WriteParamList.
4. Click on the OK button to accept the configuration and close the dialog box.
• You can call the configuration dialog again at any time in order to change or expand the
WriteParamList retrospectively.
Changing the values of the definable parameter list

After the compilation of the definable parameter list, the values in the columns 1st value ... 4th
value first correspond to the Lenze setting of the respective parameter.
• Just click one of the input fields in these columns to change the displayed value.
• If you place the cursor in an input field, the permitted value range for the corresponding
parameter is shown under the table.
Changing the values of the motor data parameter list

Click the Motor data parameter list register to put it in the foreground:
• Unlike the "definable" parameter list, the motor data parameter list has a fixed assignment to
the motor and control parameters.
• A list of the switchable motor and control parameters is provided in chapter "Configuring the
motor data parameter list by means of parameterisation". ( 585)
• The preset values are changed in the same way as the definable parameter list.
________________________________________________________________
Copying values
All the settings of a value set can be copied to another value set.
 To copy values, proceed as follows:

1. Click on the Copy values button.
• The Copy values dialog box is displayed:
2. Define the parameter list to be copied via the two upper checkboxes.
3. Select Source and Target.
4. Click on button in order to copy the values from Source to target.
Importing/exporting the list

For cross-device reuse of the configured WriteParamList, you can click on the Export and Import
buttons to save the parameter selection as an *.epc file and then to re-import the saved *.epc file
into another drive controller 8400.
________________________________________________________________
14.1.2 Configuring control inputs
The three control inputs for parameter change-over can be configured via the following parameters:

Activate writing 0: Not connected Selection of the signal source that activates writing
(C00621/123) to the parameter list (for Execute Mode = "0: by
Execute").
Selection value set - 1 0: Not connected Selection of the two signal sources for the binary-
(C00621/124) coded selection of the value set 1 ... 4 to be used (see
following truth table).
Selection value set - 2 0: Not connected
(C00621/125)
Truth table for the selection of the value set to be used:
Selection value set - 1 Selection value set - 2 Value set used

FALSE FALSE Value set 1
TRUE FALSE Value set 2
FALSE TRUE Value set 3
TRUE TRUE Value set 4
________________________________________________________________
14.1.3 Functional settings

Execute Mode 0: by Execute For writing the parameter list, two modes are
(C01082) available:
• 0: by Execute (Lenze setting)
The writing of the parameter list is activated by a
FALSE/TRUE edge at the bExecute control input.
• 1: by Input Select
The parameter list is written when the selection
inputs bSelectWriteValue_1 and
bSelectWriteValue_2 are changed and once
during the initialisation of the controller.
Note: If the execute mode changes from "0: by
Execute" to "1: by Input Select", the parameter list
selected by the selection inputs is written once. In
the execute mode "1: by Input Select", the parameter
list then is only written again when a change occurs
on the selection inputs .
Definable parameter list 1: On Switch on/off parameter changeover for the
(C02200/1) definable parameter list.
Motor data parameter list 0: Off Switch on/off parameter changeover for the motor
(C02200/2) data parameter list.
14.1.4 Error indication
With every run through the main program, one parameter of the definable parameter list is written
until the parameter list has been executed completely. If an error occurs, C01083 displays an error
status and C01084 displays the number of the list entry causing the error (in connection with the
selected value set).
• If several errors occur at the same time, only the first incorrect list entry will be displayed. Hence,
after elimination of the displayed error and another activation, more errors may be displayed.
• The parameter list will always be processed from beginning to end, even if errors occur in the
meantime.
14.2 Configuring the definable parameter list by means of parameterisation
________________________________________________________________
14.2 Configuring the definable parameter list by means of parameterisation
The following application example shows the necessary procedure for configuring the list without
using the »Engineer« parameterisation dialog.
Task:
The LS_WriteParamList SB is to be used to write to parameters C00012, C00026/1 and C00027/1.
Compiling the parameter list

In C01085/1 ... n, specify the above-named parameters in the <Code>,<Subcode> format:
• C01085/1 = 12.000
• C01085/2 = 26.001
• C01085/3 = 27.001
• C01085/4 ... n = 0.000 (no parameter)
 Note!
Gaps in the parameter list (setting = 0.000) are permissible and are skipped in the
process.
Invalid parameter entries are not accepted when being entered.
Entering values for the parameters (value set 1)

In C01086/1 ... n, specify the values to be used to describe the selected parameters. The values are
entered according to the scaling format/scaling factor of the respective parameter.
• C01086/1 = <value> for list entry 1 (in our example: for parameter C00012)
• C01086/2 = <value> for list entry 2 (in our example: for parameter C00026/1)
• C01086/3 = <value> for list entry 3 (in our example: for parameter C00027/1)
These values are used in the writing process if the two bSelectWriteValue_1 and
bSelectWriteValue_2 inputs are not assigned or both set to FALSE.
Entering other values for the parameters (value sets 2 ... 4)

If required, up to three other sets can be set in the same way in C01087/1 ... n to C01089/1 ... n
which can optionally be written to the parameters. The decision as to which value set is finally used
is dependent upon the assignment of the two bSelectWriteValue_1 and bSelectWriteValue_2
inputs:
14.3 Configuring the motor data parameter list by means of parameterisation
________________________________________________________________
The setting of the values for value sets 1 ... 4 of the motor data parameter list can also be carried out
directly via the codes from code C02210 (see following table; columns 1st value ... 4th value).
• Unlike the "definable" parameter list, the motor data parameter list has a fixed assignment to
the motor and control parameters.
• The preset values for value sets 1 ... 4 correspond to the Lenze setting of the respective motor or
control parameter.
• The values are entered according to the scaling format / scaling factor of the respective motor
or control parameter.
Code Name Lenze setting 1st value 2nd value 3rd value 4th value
C00006 Motor control 6 C02210/1 C02210/2 C02210/3 C02210/4
C00015 VFC: V/f base frequency 50.0 Hz C02212/1 C02212/2 C02212/3 C02212/4
C00016 VFC: Vmin boost 1.60 % C02213/1 C02213/2 C02213/3 C02213/4
C00018 Switching frequency 2 C02214/1 C02214/2 C02214/3 C02214/4
C00019 Auto-DCB: Threshold 3 rpm C02215/1 C02215/2 C02215/3 C02215/4
C00021 Slip comp. 2.67 % C02216/1 C02216/2 C02216/3 C02216/4
C00022 Imax in motor mode 47.00 A C02217/1 C02217/2 C02217/3 C02217/4
C00023 Imax in generator mode 100.00 % C02218/1 C02218/2 C02218/3 C02218/4
C00036 DC braking: Current 50.00 % C02219/1 C02219/2 C02219/3 C02219/4
C00070/1 SLVC: Vp speed controller 15.00 C02220/1 C02220/2 C02220/3 C02220/4
C00070/2 Reserved 6.00 C02220/5 C02220/6 C02220/7 C02220/8
C00070/3 SLPSM: Vp speed controller 3.00 C02220/9 C02220/10 C02220/11 C02220/12
C00071/1 SLVC: Ti speed controller 100.0 ms C02221/1 C02221/2 C02221/3 C02221/4
C00071/2 Reserved 50.0 ms C02221/5 C02221/6 C02221/7 C02221/8
C00071/3 SLPSM: Ti speed controller 100.0 ms C02221/9 C02221/10 C02221/11 C02221/12
C00072 SC: Tdn speed controller 0.00 ms C02222/1 C02222/2 C02222/3 C02222/4
C00073/1 VFC: Vp Imax controller 0.25 C02223/1 C02223/2 C02223/3 C02223/4
C00073/2 SLVC: Vp torque controller 1.25 C02223/5 C02223/6 C02223/7 C02223/8
C00074/1 VFC: Ti Imax controller 65 ms C02224/1 C02224/2 C02224/3 C02224/4
C00074/2 SLVC: Ti torque controller 30 ms C02224/5 C02224/6 C02224/7 C02224/8
C00075 Vp current controller 7.00 V/A C02225/1 C02225/2 C02225/3 C02225/4
C00076 Ti current controller 10.61 ms C02226/1 C02226/2 C02226/3 C02226/4
C00079/1 SC: Current controller - feedforward control 0 C02229/1 C02229/2 C02229/3 C02229/4
C00079/2 SC: adapt. field weak. controller 1 C02229/5 C02229/6 C02229/7 C02229/8
C00079/3 SC: n-Ctrl Anti-Wind-Up 0 C02229/9 C02229/10 C02229/11 C02229/12
C00080 Override point of field weakening 0 Hz C02230/1 C02230/2 C02230/3 C02230/4
C00081 Rated motor power 11.00 kW C02231/1 C02231/2 C02231/3 C02231/4
C00082 Motor rotor resistance 276 mOhm C02232/1 C02232/2 C02232/3 C02232/4
C00084 Motor stator resistance 330 mOhm C02233/1 C02233/2 C02233/3 C02233/4
C00085 Motor stator leakage inductance 3.50 mH C02234/1 C02234/2 C02234/3 C02234/4
C00087 Rated motor speed 1460 rpm C02236/1 C02236/2 C02236/3 C02236/4
C00088 Rated motor current 21.00 A C02237/1 C02237/2 C02237/3 C02237/4
C00089 Rated motor frequency 50 Hz C02238/1 C02238/2 C02238/3 C02238/4
C00090 Rated motor voltage 400 V C02239/1 C02239/2 C02239/3 C02239/4
C00091 Motor cosine phi 0.85 C02240/1 C02240/2 C02240/3 C02240/4
C00092 Motor magnetising inductance 81.0 mH C02241/1 C02241/2 C02241/3 C02241/4
C00095 Motor magnetising current 8.50 A C02242/1 C02242/2 C02242/3 C02242/4
C00106 Auto-DCB: Hold time 0.500 s C02244/1 C02244/2 C02244/3 C02244/4
C00107 DC braking: Hold time 999.000 s C02245/1 C02245/2 C02245/3 C02245/4
C00120 Setting of motor overload (I²xt) 100.00 % C02246/1 C02246/2 C02246/3 C02246/4
C00234 Oscillation damping influence 5.00 % C02249/1 C02249/2 C02249/3 C02249/4
________________________________________________________________
C00235 Oscillation damping filter time 32 ms C02250/1 C02250/2 C02250/3 C02250/4
C00236 Oscillation damping field weakening 14 C02251/1 C02251/2 C02251/3 C02251/4
C00273 Motor moment of inertia 0.00 kg cm^2 C02256/1 C02256/2 C02256/3 C02256/4
C00653/1 Sensibility - Setpoint feedforward control 0 C02264/1 C02264/2 C02264/3 C02264/4
C00905 Motor phase direction of rotation 0 C02272/1 C02272/2 C02272/3 C02272/4
C00909/1 Max. pos. speed 120.00 % C02273/1 C02273/2 C02273/3 C02273/4
C00909/2 Max. neg. speed 120.00 % C02273/5 C02273/6 C02273/7 C02273/8
C00910/1 Max. pos. output frequency 1000 Hz C02274/1 C02274/2 C02274/3 C02274/4
C00910/2 Max. neg. output frequency 1000 Hz C02274/5 C02274/6 C02274/7 C02274/8
C00915 Motor cable length 5.0 m C02275/1 C02275/2 C02275/3 C02275/4
C00916 Motor cable cross-section 6.00 mm^2 C02276/1 C02276/2 C02276/3 C02276/4
C00938 PSM: Maximum motor current field weakening 30.00 % C02278/1 C02278/2 C02278/3 C02278/4
C00939 Ultimate motor current 3000.0 A C02279/1 C02279/2 C02279/3 C02279/4
C00965 Max. motor speed 60000 rpm C02280/1 C02280/2 C02280/3 C02280/4
C00966 VFC: Time const. slip comp. 100 ms C02281/1 C02281/2 C02281/3 C02281/4
C00971/1 VFC: Controller limitation V/f +encoder 10.00 Hz C02284/1 C02284/2 C02284/3 C02284/4
C00971/2 VFC: Slip limitation V/f +encoder 100.00 Hz C02284/5 C02284/6 C02284/7 C02284/8
C00972 VFC: Vp V/f +encoder 0.100 Hz/Hz C02285/1 C02285/2 C02285/3 C02285/4
C00973 VFC: Ti V/f +encoder 100.0 ms C02286/1 C02286/2 C02286/3 C02286/4
C00975 VFC-ECO: Vp CosPhi controller 0.500 Hz/Hz C02287/1 C02287/2 C02287/3 C02287/4
C00976 VFC-ECO: Ti CosPhi controller 200.0 ms C02288/1 C02288/2 C02288/3 C02288/4
C00977 VFC-ECO: Minimum voltage V/f 20.00 % C02289/1 C02289/2 C02289/3 C02289/4
C00982 VFC-ECO: Voltage reduction ramp 0.8 s C02290/1 C02290/2 C02290/3 C02290/4
C00985 SLVC: Field current controller gain 0.50 % C02291/1 C02291/2 C02291/3 C02291/4
C00986 SLVC: Cross current controller gain 0.00 % C02292/1 C02292/2 C02292/3 C02292/4
C00987 Inverter motor brake: nAdd 80 rpm C02293/1 C02293/2 C02293/3 C02293/4
C00988 Inverter motor brake: PT1 filter time 0.0 ms C02294/1 C02294/2 C02294/3 C02294/4
C00990 Flying restart fct.: Activate 0 C02295/1 C02295/2 C02295/3 C02295/4
C00991 Flying restart fct.: Process 2 C02296/1 C02296/2 C02296/3 C02296/4
C00992 Flying restart fct.: Start frequency 10 Hz C02297/1 C02297/2 C02297/3 C02297/4
C00993 Flying restart fct: Int. time 300.0 ms C02298/1 C02298/2 C02298/3 C02298/4
C00994 Flying restart fct.: Current 25.00 % C02299/1 C02299/2 C02299/3 C02299/4
C00995/1 SLPSM: Controlled accelerating current 100.00 % C02300/1 C02300/2 C02300/3 C02300/4
C00995/2 SLPSM: Controlled standstill current 20.00 % C02300/5 C02300/6 C02300/7 C02300/8
C00996/1 SLPSM: Switching speed, closed-loop control 13.00 % C02301/1 C02301/2 C02301/3 C02301/4
C00996/2 SLPSM: Switching speed, open-loop control 8.00 % C02301/5 C02301/6 C02301/7 C02301/8
C00997 SLPSM: Filter cutoff frequency 5.00 % C02302/1 C02302/2 C02302/3 C02302/4
C00998/1 SLPSM: Filter time rotor position 3.0 ms C02303/1 C02303/2 C02303/3 C02303/4
C00998/2 SLPSM: Filter time actual speed value 5.0 ms C02303/5 C02303/6 C02303/7 C02303/8
C00999 SLPSM: PLL gain 400 % C02304/1 C02304/2 C02304/3 C02304/4
C01001/1 Manual entry of motor type 0 C02315/1 C02315/2 C02315/3 C02315/4
C02853/1 PSM: Lss saturation characteristic 100 % C02305/1 C02305/2 C02305/3 C02305/4
________________________________________________________________
C02855 PSM: Imax Lss saturation characteristic 3000.0 A C02306/1 C02306/2 C02306/3 C02306/4
C02859 PSM: Activate Ppp saturation char. 0 C02307/1 C02307/2 C02307/3 C02307/4
C02872/1 PLI without motion: Adaptation of time duration 0 C02311/1 C02311/2 C02311/3 C02311/4
C02874/1 PLI without motion 0x0001 C02312/1 C02312/2 C02312/3 C02312/4
C02875/1 PLI without motion: Adaptation of ident angle 0 ° C02313/1 C02313/2 C02313/3 C02313/4
14.4 Internal interfaces | System block "LS_WriteParamList"
________________________________________________________________
The LS_WriteParamList system block provides the internal interfaces for the basic "Parameter
change-over" function.
 Note!
The "parameter change-over" basic function is always processed, even if the
LS_WriteParamList system block has been removed from the interconnection by the FB
Editor.
If you do not require this basic function anymore, delete the composed parameter list in
order that no unwanted parameter write operations take place.
/6B:ULWH3DUDP/LVW
E([HFXWH & :ULWHSDUDPHWHUOLVW 2Q2II E'RQH
& :ULWHPRWRUSDUDPHWHUOLVW 2Q 2II
&
E6HOHFW:ULWH9DOXHB )DLOVWDWH E)DLO
)$/6( 758( )$/6( 758(
E6HOHFW:ULWH9DOXHB &
)$/6( )$/6( 758( 758( )DLOOLQHQXPEHU
9DOXH 9DOXH 9DOXH 9DOXH

& ,QGH[ & & & &
3DUDPHWHUOLVW
& ,QGH[ & & & &

& ,QGH[ & & & &

&Q ,QGH[Q &Q &Q &Q &Q
9DOXH 9DOXH 9DOXH 9DOXH

& & & & &
0RWRUSDUDPOLVW
& & & & &

& & & & &
& & & & &

)RUPDW&RGHQXPEHU!6XEFRGHQXPEHU!
Inputs

Data type
bExecute FALSETRUE For Execute Mode (C01082) = "0: by Execute":

BOOL Activate writing of the parameter list
bSelectWriteValue_1 Binary coded selection of the value set 1 ... 4 to be used.
bSelectWriteValue_2 bSelectWrite bSelectWrite
BOOL
Value_1 Value_2
FALSE FALSE Value set 1
TRUE FALSE Value set 2
FALSE TRUE Value set 3
TRUE TRUE Value set 4
________________________________________________________________
Outputs
Data type
bDone "Writing of the parameter list completed" status signal

BOOL • The output is automatically reset to FALSE if writing via bExecute is activated
again.
TRUE Writing of the parameter list successfully completed.
FALSE The FALSE status can have the following meanings:
1. There is no active writing of the parameter list.
2. Writing of the parameter list has not been completed yet.
3. An error has occurred (if bFail = TRUE).
bFail "Error" status
BOOL
TRUE An error has occurred (group signal).
• See display parameter (C01083) for details.
15 Parameter reference
________________________________________________________________
This chapter describes all parameters which can be used for parameterising and monitoring the
controller.
Parameters which are only available in the controller from a certain software version onwards are
marked with a corresponding note in the parameter description ("from version xx.xx.xx").
The parameter descriptions are based on software version V15.00.00
 Tip!
For quick reference of a parameter with a certain name simply use the index of the online
documentation. The index always contains the corresponding code in parentheses behind
the name.
General information on parameter setting can be found in the chapter "Introduction:
Parameterising the controller". ( 20)
For general information on how to read and change parameters, please see the online
documentation for the »Engineer«.
15.1 Structure of the parameter descriptions
________________________________________________________________
Each parameter is described in the Parameter list in the form of a table which consists of the
following three areas:
Table header
The table header contains the following general information:
• Parameter number (Cxxxxx)
• Parameter name (display text in the »Engineer» and keypad)
• Data type
• Parameter index in decimal and hexadecimal notation for access via a fieldbus (e.g. CAN system
bus).
 Tip!
The parameter index is calculated as follows:
• Index [dec] = 24575 - code
• Index [hex] = 0x5FFF - code
Example for code C00005:
• Index [dec] = 24575 - 5 = 24570
• Index [hex] = 0x5FFF - 0x{5} = 0x5FFA
Table contents
The table contains further general explanations & notes on the parameter and the possible settings,
which are represented in different ways depending on the parameter type:
• Parameters with read-only access
• Parameters with write access
Table footer
The table footer contains the Parameter attributes.
________________________________________________________________
15.1.1 Data type
The following data types are available for parameters:
Data type Meaning

INTEGER_16 16-bit value with sign
INTEGER_32 32-bit value with sign
UNSIGNED_8 8-bit value without sign
VISIBLE_STRING String of characters of printable characters
15.1.2 Parameters with read-only access
Parameters for which the "write access" attribute has not been set can only be read and not be
changed by the user.
Description structure
Parameter | Name: Data type: _______

Cxxxxx | _____________ Index: _______
Description
Display range (min. value | unit | max. value)
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1
Representation in the »Engineer«

The »Engineer« displays these parameters with a grey background or, with an online connection,
with a pale-yellow background:
________________________________________________________________
15.1.3 Parameters with write access
Only parameters with a check mark () in front of the "write access" attribute can be changed by
the user. The Lenze setting for these parameters is printed in bold.
• The settings can either be selected from a selection list or the values can be entered directly.
• Values outside the valid setting range are represented in red in the »Engineer«.
15.1.3.1 Parameters with setting range

Cxxxxx | _____________ Index: _______
Description
Setting range (min. value | unit | max. value) Lenze setting
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1
Parameter setting in the »Engineer«

In the »Engineer«, parameters are set by entering the desired value into the input field:
15.1.3.2 Parameters with selection list

Cxxxxx | _____________ Index: _______
Description
Selection list (Lenze setting printed in bold)
1
2
3
________________________________________________________________

In the »Engineer«, a list field is used for parameter setting:
15.1.3.3 Parameters with bit-coded setting

Cxxxxx | _____________ Index: _______
Description
Value is bit-coded:
Bit 0
...
Bit 31

The »Engineer« uses a dialog box for parameter setting in which the individual bits can be set or
reset. Alternatively, the value can be entered as a decimal or hexadecimal value:
________________________________________________________________
15.1.3.4 Parameters with subcodes

Cxxxxx | _____________ Index: _______
Description
Setting range (min. value | unit | max. value)
Subcodes Lenze setting

Cxxxxx/1
Cxxxxx/2
Cxxxxx/3
Cxxxxx/4

The »Engineer« parameter list displays each subcode individually. The parameters are set as
described in the previous chapters.
15.1.4 Parameter attributes
The table footers contain the parameter attributes:

Attribute Meaning
 Read access Read access to parameter possible.
 Write access Write access to parameter possible.
• Please also observe the following attributes:
 CINH Parameter value can only be changed when the controller is
inhibited.
 PLC STOP Parameter value can only be changed when the application is
stopped.
 No transfer Parameter is not transferred to controller when the command Download parameter set is
executed.
 COM Communication-relevant parameter
• This parameter is relevant for parameter data transfer via the (CAN) system bus.
 MOT Motor control parameters
________________________________________________________________
Scaling factor
The "scaling factor" is important for parameter access via a bus system.
Signal type Scaling factor Resolution Value range

Analog (scaled) 100 16 bits signed ± 199.99 %
Angular velocity 1 16 bits signed ± 32767 incr./ms
Position in [units] 10000 32 bits signed ± 214748.3647 [units]
Digital (BOOL) 1 8 bits unsigned 0 ≡ FALSE; 1 ≡ TRUE
Time 1000 16 bits unsigned 0 ... 999.000 s
Selection value 1 16 bits unsigned 0 ... 65535
Example 1: The value "654" of the parameter C00028/1 (AIN1: input voltage) read via a bus system
must be divided by the corresponding scaling factor "100" to obtain the actual display value
"6.54 V".
Read value (via bus system)

----------------------------------------------------------------------- = Indicated value (Engineer)
Scaling factor
[15-1] Conversion formula for read access via bus system
Example 2: In order to set the parameter C00012 (acceleration time main setpoint) to the value
"123.45 %" via a bus system, the integer value "12345" must be transferred, i.e. the value to be set
must be multiplied by the corresponding scaling factor "100".
Value to be written (via bus system) = Value to be set ⋅ Scaling factor

[15-2] Conversion formula for write access via bus system
Character length
In case of parameters of "VISIBLE_STRING" data type, the character length is given in addition. This
is also important for the parameter access via a bus system.
15.2 Parameter list
________________________________________________________________
15.2 Parameter list
This chapter lists all parameters of the operating system in numerically ascending order.
 Note!
The parameter descriptions are based on the software version V15.00.00.
C00001
Parameter | Name: Data type: UNSIGNED_8

C00001 | Keypad Userlevel Index: 24574d = 5FFEh
From version 12.00.00 onwards, the extent of menus, submenus and codes shown in the keypad can be adapted by
selecting the "userlevel".
• When the userlevel has been changed, the menus of the keypad will be reconfigured according to the selected
user level.
• Independently of the set userlevel, the parameters of the attached communication module will always be
displayed completely.
Selection list Info
10 Standard Only the most important menus and codes are displayed
on the keypad.
20 Expert All menus and codes are displayed on the keypad.
30 Service Only for servicing purposes (Lenze service).
Subcodes Lenze setting Info
C00001/1 10: Standard Keypad UserLevel
C00002

C00002 | Device command Index: 24573d = 5FFDh
Note:
• Before switching off the supply voltage after a device command has been executed, check the successful
execution of the device command via the status display in C00003!
• Before activating device commands by a master control, wait for the "Ready" signal of the controller.
• The device will reject a write process to C00002/x if the value is >1 and issue an error message.
Drive control (DCTRL): Device commands
Selection list
0 Off / ready
1 On / start
4 Action cancelled
5 No access
6 No access controller inhibit
20 20% working
40 40% working
60 60% working
80 80% working
15.2 Parameter list
________________________________________________________________


C00002/1 0: Off / ready Load Lenze setting
• All parameters are reset to the Lenze setting.
• Only possible when the controller is inhibited.
Load Lenze setting
C00002/2 0: Off / ready Reserved
C00002/6 0: Off / ready Load all parameter sets
• All parameter sets are loaded by the memory module.
• Only possible when the controller is inhibited.
Load all parameter sets
C00002/11 0: Off / ready Save all parameter sets
• All parameter sets are saved to the memory module
safe against mains failure.
Save all parameter sets
C00002/16 1: On / start Enable controller
1 ≡ Enable controller
0 ≡ Inhibit controller
Enable/inhibit controller
C00002/17 0: Off / ready Activate quick stop
1 ≡ Activate quick stop
0 ≡ Deactivate quick stop
Activate/deactivate quick stop
C00002/19 0: Off / ready Reset error
• After the reset (acknowledgement) of the current
error, further errors may be pending which must also
be reset.
• The status determining error is displayed in C00168.
• The current error is displayed in C00170.
Error messages of the operating system
C00002/21 0: Off / ready Delete logbook
• All entries in the logbook of the controller are deleted.
• In the logbook, information on the error history is
saved.
Logbook
15.2 Parameter list
________________________________________________________________

C00002/23 0: Off / ready Motor parameter identification

• This device command serves to carry out automatic
motor parameter identification.
• The device command is only executed when the drive
controller is in the "SwitchedOn" status.
• In order to identify the motor parameters, the
controller must be enabled after this device
command.
• From version 10.00.00 onwards, the identification
mode can be selected in C02867.
Automatic motor parameter identification
C00002/26 0: Off / ready CAN reset node
• Reinitialise "CAN on board" interface.
• Required when changing the baud rate, node address,
or identifiers.
"CAN on board" system bus
C00002/27 0: Off / ready Device search function
• This device command serves to optically locate a
controller connected online (e.g. for maintenance
work).
Device search function
C00002/28 0: Off / ready Check MasterPin
Unlocking the controller with a MasterPin
C00002/29 0: Off / ready Set binding ID
C00002/30 0: Off / ready Delete binding ID
C00002/31 0: Off / ready Set password
C00002/32 0: Off / ready Check password
C00002/33 0: Off / ready Delete password
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1
15.2 Parameter list | C00003
________________________________________________________________
C00003

C00003 | Status of last device command Index: 24572d = 5FFCh
Status of the device command executed last (C00002).
Note:
Before switching off the supply voltage after carrying out a device command, check whether the device command
has been carried out successfully via the status display!
Drive control (DCTRL): Device commands
Selection list (read only) Info
0 Successful Device command has been executed successfully.
1 Command unknown Device command implausible or unknown to the system.
2 Password protection Unauthorised access for requested device command.
3 Time-out Device command could not be processed in the defined
time (timeout).
4 System fault
5 Command server assigned
6 Controller inhibit required
10 Memory module binding error Device personalisation
11 Password too short Password protection
12 Wrong password
13 Password already set
14 Password not assigned
20 Setting the hiperface position failed
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1
C00005

C00005 | Application Index: 24570d = 5FFAh
Selection of the technology application

Selection list (Lenze setting printed in bold) Info
0 Wiring has changed This display appears if the FB interconnection has been
changed in the application level using the FB Editor.
1000 Actuating drive speed This technology application is used to solve speed-
controlled drive tasks, e.g. conveying belts.
TA "Actuating drive speed"
1100 Actuating drive speed (AC Drive From version 13.00.00
Profile) This technology application is used to solve speed-
controlled drive tasks, e.g. conveying belts.
The process data word received by the master control is
interpreted as "AC Drive Profile" control word.
TA "Actuating drive speed (AC Drive Profile)"
3000 Switch-off positioning From version 04.00.00
This technology application is used to solve speed-
controlled drive tasks which require a pre-switch off or
stopping at certain positions, e.g. roller conveyors and
conveying belts. This is implemented by connecting
switch-off sensors.
TA "Switch-off positioning"
________________________________________________________________
C00006

C00006 | Motor control Index: 24569d = 5FF9h
Selection of the motor control mode

Motor control (MCTRL): Select control mode
3 SLPSM: Sensorless PSM From version 10.00.00
This control type is used for the sensorless control of a
synchronous motor.
Sensorless control for synchronous motors
4 SLVC: Vector control This control type is used for sensorless vector control of
an asynchronous motor.
• The control type requires motor parameters to be set
as exactly as possible!
Sensorless vector control
6 VFCplus: V/f linear This control type is used for the speed control of an
asynchronous motor via a linear V/f characteristic and is
the simplest control type.
• For setting the V/f characteristic, only the rated
frequency (C00089) and the rated voltage (C00090) of
the motor have to be entered.
V/f characteristic control
7 VFCplus: V/f linear + encoder This control type is used for speed control of an
asynchronous motor via a linear V/f characteristic.
• The control type requires a speed feedback via an
encoder mounted to the motor!
V/f control
8 VFCplus: V/f quadr This control type is used for speed control of an
asynchronous motor via a square-law V/f characteristic.
9 VFCplus: V/f quadr + encoder This control type is used for speed control of an
asynchronous motor via a square-law V/f characteristic.
• The control type requires a speed feedback via an
encoder mounted to the motor!
V/f control
10 VFCplus: V/f definable From version 04.00.00
This type of control is used for the speed control of an
asynchronous motor via a user-definable characteristic
with several interpolation points.
________________________________________________________________

C00006 | Motor control Index: 24569d = 5FF9h
11 VFCplusEco: V/f energy-saving From version 10.00.00

This control type is used for energy-saving speed control
of an asynchronous motor via a linear V/f characteristic.
• Predestinated application areas of this control type
are materials handling technology and pump and fan
systems.
V/f characteristic control, energy-saving
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1
C00007

C00007 | Control mode Index: 24568d = 5FF8h
With this parameter the control mode for the technology application selected under C00005 is defined, i.e. how the
inputs and outputs of the technology application are connected to the I/Os of the controller.
• How the inputs and outputs are connected in the individual control modes is described in the corresponding
technology application:
• "Actuating drive speed" TA
• TA "actuating drive speed (AC Drive Profile)"
• "Switch-off positioning" TA
0 Wiring has changed This is displayed when the FB interconnection has been
changed in the I/O level via the FB Editor.
10 Terminals 0 The technology application is controlled via the digital
and analog input terminals of the controller.
12 Terminals 2
• For a short overview of the preconfigured terminal
14 Terminals 11 assignment see the following section "Terminal
assignment of the control modes 10 ... 16".
16 Terminal 16
20 Keypad The technology application is controlled via the keypad.
21 PC The technology application is controlled via the "Free
parameters" of the controller (PC control).
30 CAN The technology application is controlled by means of
CAN-PDOs via the system bus "CAN on board".
40 MCI The technology application is controlled by means of
MCI-PDOs via the MCI-interface of an attached
communication module (e.g. PROFIBUS).
________________________________________________________________
Terminal assignment of the control modes 10 ... 16
"Actuating drive speed" TA

Input/output 10: Terminals 0 12: Terminals 2 14: Terminals 11 16: Terminals 16
RFR Controller enable / Reset of error message
DI1 Fixed setpoint 1/3 Change of direction of Fixed setpoint 1/3
rotation
DI2 Fixed setpoint 2/3 Activate manual DC- Fixed setpoint 2/3
injection braking (DCB)
DI3 Activate manual DC-injection Quick stop Motor potentiometer: CW rotation quick stop
braking (DCB) Increase speed
DI4 Change of direction of rotation Motor potentiometer: CCW rotation quick stop
Decrease speed
A1U Main speed setpoint (10 V ≡ 100 % reference speed)
O1U Actual speed value (10 V ≡ 100 % reference speed)
DO1 Status "Drive is ready"
Relay output Status "Error is pending"
TA "actuating drive speed (AC Drive Profile)"

RFR Controller enable / Reset of error message
DI1 Fixed setpoint 1/3 Change of direction of Fixed setpoint 1/3
rotation
DI2 Fixed setpoint 2/3 Activate manual DC- Fixed setpoint 2/3
injection braking (DCB)
DI3 Activate manual DC-injection Quick stop Motor potentiometer: CW rotation quick stop
braking (DCB) Increase speed
DI4 Change of direction of rotation Motor potentiometer: CCW rotation quick stop
Decrease speed
A1U Local speed/torque setpoint (speed mode: 10 V ≡ 100 % reference speed; torque mode: 10 V ≡ 100 % Mmax)
O1U Actual speed value (10 V ≡ 100 % reference speed)

DO1 Status "Drive is ready"
Relay output Status "Error is pending"
"Switch-off positioning" TA
RFR Controller enable Controller enable / Reset of error message
DI1 Fixed setpoint 1/3 Stop function 1 Fixed setpoint 1/3
DI2 Fixed setpoint 2/3 Stop function 2 Selection: Pre-switch off 1 Fixed setpoint 2/3
DI3 Reset error message CW rotation quick stop CW rotation quick stop
Selection: Switch-off position 1
DI4 Change of direction of CCW rotation quick stop CCW rotation quick stop
rotation Selection: Switch-off position 2
A1U Main speed setpoint (10 V ≡ 100 % reference speed)
O1U -
DO1 -
Relay output -
________________________________________________________________
C00008

C00008 | Original application|control source Index: 24567d = 5FF7h
Display of the originally selected technology application and the originally selected control mode.
• This parameter shows the selection that was set with C00005 and C00007 before a change in the I/O level or the
application level was carried out.
• For diagnostic purposes, this display serves to determine whether there is a standard interconnection in the
controller or a change carried out by the user.
Selection list (read only) Info
0 Free|Free Application: Interconnection has been changed.
I/O level: Interconnection has been changed.
10 Free|Terminal0 Application: Interconnection has been changed.
I/O level: "Terminals 0" control mode
I/O level: "Terminal 2" control mode
16 Free|Terminal 16 Application: Interconnection has been changed.
20 Free|Keypad Application: Interconnection has been changed.
I/O level: "Keypad" control mode
21 Free|PC Application: Interconnection has been changed.
I/O level: "PC" control mode
30 Free|CAN Application: Interconnection has been changed.
I/O level: "CAN" control mode
40 Free|MCI Application: Interconnection has been changed.
I/O level: "MCI" control mode
1000 Speed|Free Application: Actuating drive speed
1010 Speed|Terminal0 Application: Actuating drive speed
1020 Speed|Keypad Application: Actuating drive speed
1021 Speed|PC Application: Actuating drive speed
1030 Speed|CAN Application: Actuating drive speed
1040 Speed|MCI Application: Actuating drive speed
1100 SpeedACdrive|Free Application: Actuating drive speed (AC Drive Profile)
1110 SpeedACdrive|Terminal0 Application: Actuating drive speed (AC Drive Profile)
1112 SpeedACdrive|Klemme2 Application: Actuating drive speed (AC Drive Profile)
________________________________________________________________

C00008 | Original application|control source Index: 24567d = 5FF7h

1120 SpeedACdrive|Keypad Application: Actuating drive speed (AC Drive Profile)
1121 SpeedACdrive|PC Application: Actuating drive speed (AC Drive Profile)
1130 SpeedACdrive|CAN Application: Actuating drive speed (AC Drive Profile)
1140 SpeedACdrive|MCI Application: Actuating drive speed (AC Drive Profile)
3000 SwitchPos|Free Application: Switch-off positioning
3010 SwitchPos|Terminal0 Application: Switch-off positioning
3012 SwitchPos|Terminal 2 Application: Switch-off positioning
3020 SwitchPos|Keypad Application: Switch-off positioning
3021 SwitchPos|PC Application: Switch-off positioning
3030 SwitchPos|CAN Application: Switch-off positioning
3040 SwitchPos|MCI Application: Switch-off positioning
C00010
Parameter | Name: Data type: INTEGER_16

C00010 | AIN1: Characteristic Index: 24565d = 5FF5h

Analog terminals: Signal adaptation via characteristic
0.00 % 199.99
C00010/1 0.00 % AIN1: (+y0) = min
C00010/2 0.00 % AIN1: (+x0) = Dead band
C00010/3 0.00 % AIN1: (-y0) = (-min)
C00010/4 0.00 % AIN1: (-x0) = (-Dead band)
C00010/5 100.00 % AIN1: (+ymax)
C00010/6 100.00 % AIN1: (+xmax)
C00010/7 100.00 % AIN1: (-ymax)
C00010/8 100.00 % AIN1: (-xmax)
________________________________________________________________
C00011

C00011 | Appl.: Reference speed Index: 24564d = 5FF4h
Setting the reference speed

• In the controller, all speed-related signals are processed to one reference variable in percent.
• Set a reference speed here that corresponds to 100 %.
• The frequency that corresponds to the set reference speed is displayed in C00059.
Note:
This is not a maximum limitation!
All values in percent in the controller may be in a range of 0 ... 199.99 %.
50 rpm 60000 1500 rpm
C00012

C00012 | Accel. time - main setpoint Index: 24563d = 5FF3h
The L_NSet_1 FB: Acceleration time of the ramp generator for the main speed setpoint
• Generally, this ramp generator is used for all speed-controlled technology applications.
0.000 s 999.999 2.000 s
C00013

C00013 | Decel. time - main setpoint Index: 24562d = 5FF2h
The L_NSet_1 FB: Deceleration time of the ramp generator for the main speed setpoint
• Generally, this ramp generator is used for all speed-controlled technology applications.
0.000 s 999.999 2.000 s
C00015

C00015 | VFC: V/f base frequency Index: 24560d = 5FF0h
V/f base frequency for V/f characteristic control (VFCplus) and V/f control (VFCplus+encoder)
• The motor voltage increases linearly with the frequency until the base frequency is reached. From this value on,
the motor voltage remains constant, the speed increases and the maximum torque decreases.
• After the motor to be used has been selected from the motor catalogue, the suitable value can be entered
automatically. An automatic detection via the motor parameter identification is possible as well.
7.5 Hz 2600.0 50.0 Hz
________________________________________________________________
C00016

C00016 | VFC: Vmin boost Index: 24559d = 5FEFh
Boost of the V/f voltage characteristic in the range of small speeds or frequencies with V/f characteristic control
(VFCplus) and V/f control (VFCplus+encoder)
• This may increase the starting torque.
Motor control (MCTRL): Setting the Vmin boost
0.00 % 100.00 1.60 %
C00018

C00018 | Switching frequency Index: 24557d = 5FEDh
Selection of the pulse width modulated switching frequency transferred from the inverter to the motor
• Select between an ideal setting for the drive which provides smooth running, and an optimal setting with regard
to the inverter which keeps its losses to a minimum (min. Pv).
• Both possibilities offer fixed and variable switching frequencies.
• When a variable switching frequency is selected, the switching frequency may change as a function of the load
and rotational frequency.
Selection of switching frequency
1 4 kHz var./drive-optimised
11 4 kHz var./min. Pv
31 8 kHz var./min. Pv/4 kHz min
________________________________________________________________
C00019

C00019 | Auto DCB: Threshold Index: 24556d = 5FECh
Setpoint speed threshold for automatic DC injection braking

• For speed setpoints with values below the thresholds a DC current is injected or the motor is not supplied with
current, depending on the setting.
0 rpm 60000 3 rpm
C00021

C00021 | Slip comp. Index: 24554d = 5FEAh
Slip compensation for V/f characteristic control (VFCplus) and sensorless vector control (SLVC)
• A higher slip compensation results in a higher increase in frequency and voltage when the machine is under load.
Motor control (MCTRL): Optimising the operational performance by slip compensation
-100.00 % 100.00 2.67 %
C00022

C00022 | Imax in motor mode Index: 24553d = 5FE9h
Maximum current in motor mode for all motor control modes

0.00 A 655.35 47.00 A
C00023

C00023 | Imax in generator mode Index: 24552d = 5FE8h
Maximum current in generator mode for all motor control modes

• 100 % ≡ Imax in motor mode (C00022)
0.00 % 100.00 100.00 %
________________________________________________________________
C00024

C00024 | LS_DriveInterface: bNActCompare Index: 24551d = 5FE7h
Threshold for the actual speed comparison

• This parameter serves to set a threshold that is compared with the actual speed value.
• If the value falls below this threshold, the bNactCompare output sets the LS_DriveInterface system block to
TRUE.
• Switching hysteresis = +1 %
0.00 % 199.99 0.00 %
C00026

C00026 | AINx: Offset Index: 24549d = 5FE5h
Offset for analog input

Analog terminals
-199.99 % 199.99
C00026/1 0.00 % AIN1: Offset
C00027

C00027 | AINx: Gain Index: 24548d = 5FE4h
Gain for analog input

Analog terminals
-100.0000 100.0000
C00027/1 1.0000 AIN1: Gain
C00028

C00028 | AINx: Input voltage Index: 24547d = 5FE3h
Display of the input voltage at the analog input

Analog terminals
-10.00 V 10.00
Subcodes Info
C00028/1 AIN1: Input voltage
________________________________________________________________
C00029

C00029 | AINx: Input current Index: 24546d = 5FE2h
Display of the Input current at the analog input

• When the analog input is configured for current measurement (C00034/1 = 1 or 2).
• When C00034/1 is set = 2 (4 ... 20 mA), 0 ... 16 mA is displayed.
Analog terminals
0.00 mA 20.00
Subcodes Info
C00029/1 AIN1: Input current
C00033

C00033 | AINx: Output value Index: 24542d = 5FDEh
Display of the output value in percent of the analog input amplifier

• 100 % ≡ 16384 ≡ +10 V / +20 mA
Analog terminals
-199.99 % 199.99
Subcodes Info
C00033/1 AIN1: Output value
C00034

C00034 | AINx: Configuration Index: 24541d = 5FDDh
Configuration of the analog input for current or voltage measurement

Analog terminals
Selection list Info
0 -10...+10 V Input signal is the voltage signal -10 V ... +10 V
• -10 V ... +10 V ≡ -100 % ... +100 %
1 0...20 mA Input signal is the current signal 0 mA ... 20 mA
• 0 mA ... 20 mA ≡ 0 % ... +100 %
2 4...20 mA Input signal is the current signal 4 mA ... 20 mA
• 4 mA ... 20 mA ≡ 0 % ... +100 %
• The current loop is monitored for open circuit
(I < 4 mA) by the device.
C00034/1 0: -10...+10 V AIN1: Config.
________________________________________________________________
C00036

C00036 | DC braking: Current Index: 24539d = 5FDBh
Braking current in [%] based on rated device current (C00098)

0.00 % 200.00 50.00 %
C00039

C00039 | Fixed setpoint x (L_NSet_1 n-Fix) Index: 24536d = 5FD8h
The L_NSet_1 FB: Fixed speed setpoints (JOG values) for the setpoint generator
-199.99 % 199.99
C00039/1 40.00 % Fixed setpoint 1
C00050

C00050 | MCTRL: Speed setpoint Index: 24525d = 5FCDh
Display of the speed setpoint at the speed setpoint input of the motor control
-120000 rpm 120000
________________________________________________________________
C00051

C00051 | MCTRL: Actual speed value Index: 24524d = 5FCCh
Display of the actual speed value of the motor shaft
Note:
The displayed value only corresponds to the real actual speed value of the motor shaft if an encoder is connected to
the motor and the evaluation of the feedback signal has been set correctly ("Closed loop" operation).
In case of operation without speed feedback, the signal is calculated from the motor control and thus may not
correspond to the real actual speed.
-120000 rpm 120000
C00052

C00052 | Motor voltage Index: 24523d = 5FCBh
Display of the current motor voltage/output voltage of the inverter

0 V 1000
C00053

C00053 | DC-bus voltage Index: 24522d = 5FCAh
Display of the current DC-bus voltage

0 V 1000
C00054

C00054 | Motor current Index: 24521d = 5FC9h
Display of the current motor current/output current of the inverter

0.00 A 300.00
________________________________________________________________
C00055

C00055 | Actual values Index: 24520d = 5FC8h
Note:
When a single-track feedback has been selected for the HTL encoder (C00115 = 1 or 3), the sign of the actual speed
value is created from the sign of the speed setpoint. In C00055/1, a positive speed is always displayed.
-32767 rpm 32767
Subcodes Info
C00055/1 Actual value - HTL encoder FreqIn12
C00056

C00056 | Torque Index: 24519d = 5FC7h
Display of the current torque

-65000.00 Nm 65000.00
Subcodes Info
C00056/1 Torque demand
• Only in case of sensorless vector control (SLVC).
C00056/2 Actual torque value
• Estimated actual torque for all motor control modes.
C00057

C00057 | Maximum torque Index: 24518d = 5FC6h
Display of the maximum torque to be generated by the motor

• The maximum torque to be generated by the motor depends on various factors, e.g. on Imax in motor mode
(C00022) and the motor type used.
0.00 Nm 65000.00
C00058

C00058 | Output frequency Index: 24517d = 5FC5h
Display of the current output frequency

-1300.00 Hz 1300.00
________________________________________________________________
C00059

C00059 | Appl.: Reference frequency C11 Index: 24516d = 5FC4h
Display of the field frequency which corresponds to the reference speed set in C00011.
0.00 Hz 1300.00
C00061

C00061 | Heatsink temperature Index: 24514d = 5FC2h
Display of the current heatsink temperature

-50 °C 150
C00062

C00062 | Temperature inside the controller Index: 24513d = 5FC1h

Display of the current temperature inside the controller
-200 °C 200
Subcodes Info
C00062/1 Interior temperature of CU
C00064

C00064 | Device utilisation (Ixt) Index: 24511d = 5FBFh
Display of the device utilisation Ixt in different time resolutions

• If the value displayed here exceeds the threshold set in C00123, the fault message "OC5: Device overload (Ixt)"
is output and the fault response set in C00604 is executed (default setting: "Warning").
0.00 % 250.00
Subcodes Info
• Maximum value of the pulse utilisation (C00064/2)
and permanent utilisation (C00064/3).
• Pulse utilisation over the last 15 seconds (only for
loads >160 %).
• Permanent utilisation over the last 3 minutes.
________________________________________________________________
C00065

C00065 | Supply voltage 24V Index: 24510d = 5FBEh
Display of the 24V supply voltage for the supply of the control electronics
Note:
The 24 V supply for the control electronics is either provided by an external supply or by the controller itself if it is
connected to the mains voltage.
0.0 V 3276.7
C00066

C00066 | Thermal motor load (I²xt) Index: 24509d = 5FBDh
Display of the thermal motor load, sensorlessly determined using a motor model
• If the value displayed here exceeds "100.00 %", the error message "OC6: Thermal motor overload (I2xt)" is output
and the fault response set in C00606 is executed (default setting: "Warning").
Motor overload monitoring (I2xt)
0.00 % 199.99
C00070

C00070 | Vp speed controller Index: 24505d = 5FB9h
Amplification factor Vp of the speed controller for different motor control modes
0.00 600.00
C00070/1 15.00 SLVC: Vp speed controller
C00070/2 6.00 Reserved
C00070/3 3.00 SLPSM: Vp speed controller
C00071

C00071 | Ti speed controller Index: 24504d = 5FB8h
Reset time Ti of the speed controller for different motor control modes
0.0 ms 6000.0
C00071/1 100.0 ms SLVC: Ti speed controller
C00071/2 50.0 ms Reserved
C00071/3 100.0 ms SLPSM: Ti speed controller
________________________________________________________________
C00072

C00072 | SC: Tdn speed controller Index: 24503d = 5FB7h
Differential time constant Tdn of the speed controller for sensorless control for synchronous motors (SLPSM)
0.00 ms 3.00 0.00 ms
C00073

C00073 | Imax/M controller gain Index: 24502d = 5FB6h
Amplification factor Vp of certain controllers for different motor control modes

0.00 100.00
C00073/1 0.25 VFC: Vp Imax controller
• After the motor to be used has been selected from the
motor catalogue, the suitable value can be entered
automatically.
C00073/2 1.25 SLVC: Vp torque controller
C00074

C00074 | Reset time Imax/M controller Index: 24501d = 5FB5h
Reset time Ti of certain controllers for different motor control modes

0 ms 9990
C00074/1 65 ms VFC: Ti Imax controller
C00074/2 30 ms SLVC: Ti torque controller
C00075

C00075 | Vp current controller Index: 24500d = 5FB4h
Gain factor Vp of the current controller for certain inverter functions (parameter identification, flying restart circuit)
automatically.
0.00 V/A 500.00 7.00 V/A
________________________________________________________________
C00076

C00076 | Ti current controller Index: 24499d = 5FB3h
Reset time Ti of the current controller for certain inverter functions (parameter identification, flying restart circuit)
automatically.
0.00 ms 500.00 10.61 ms
C00079

C00079 | SC: Settings Index: 24496d = 5FB0h
Configuration of different options for sensorless control for synchronous motors (SLPSM)
Selection list
0 Off
1 On
C00079/1 0: Off SC: Current controller - feedforward control
C00079/2 1: On SC: Adapt. VP in the field weakening range
C00079/3 0: Off SC: n-Ctrl Anti-Wind-Up
C00079/4 1: On Field weakening for synchronous motors
C00080

C00080 | Override point of field weakening Index: 24495d = 5FAFh
Offset of the override point of field weakening

• In the V/f characteristic control mode (VFCplus), the stall protection function or the max. permissible current in
the field weakening range can be adapted.
-500 Hz 500 0 Hz
C00081

C00081 | Rated motor power Index: 24494d = 5FAEh
This value can be obtained from the motor nameplate. After the motor to be used has been selected from the motor
catalogue, the suitable value can be entered automatically.
Note:
It is mandatory to give the rated motor power for the sensorless vector control (SLVC).
0.00 kW 500.00 11.00 kW
________________________________________________________________
C00082

C00082 | Motor rotor resistance Index: 24493d = 5FADh
After the motor to be used has been selected from the motor catalogue, the suitable value can be entered
0 mOhm 200000 276 mOhm
C00083

C00083 | Motor rotor time constant Index: 24492d = 5FACh

Display of the rotor time constant of the motor
• This value is calculated from the rotor resistance and the rotor inductance (leakage and magnetising
inductance).
0 ms 32767
C00084

C00084 | Motor stator resistance Index: 24491d = 5FABh
0 mOhm 200000 330 mOhm
C00085

C00085 | Motor stator leakage inductance Index: 24490d = 5FAAh
0.00 mH 650.00 3.50 mH
C00087

C00087 | Rated motor speed Index: 24488d = 5FA8h
Note:
It is mandatory to give the rated motor speed for the sensorless vector control (SLVC).
50 rpm 60000 1460 rpm
________________________________________________________________
C00088

C00088 | Rated motor current Index: 24487d = 5FA7h
0.20 A 320.00 21.00 A
C00089

C00089 | Rated motor frequency Index: 24486d = 5FA6h
Note:
It is mandatory to give the rated motor frequency for the sensorless vector control (SLVC).
1 Hz 1000 50 Hz
C00090

C00090 | Rated motor voltage Index: 24485d = 5FA5h
0 V 5000 400 V
C00091

C00091 | Motor cosine phi Index: 24484d = 5FA4h
0.40 1.00 0.85
C00092

C00092 | Motor magnetising inductance Index: 24483d = 5FA3h
0.0 mH 6500.0 81.0 mH
________________________________________________________________
C00093

C00093 | Power section identification Index: 24482d = 5FA2h
Display of the identification of the detected power section of the controller

0 65535
C00095

C00095 | Motor magnetising current Index: 24480d = 5FA0h
0.00 A 320.00 8.50 A
C00097

C00097 | Rated motor torque Index: 24478d = 5F9Eh
Display of the rated motor torque

• The value displayed here is calculated from different parameters, e.g. the maximum current set in C00022.
0.00 Nm 100000.00
C00098

C00098 | Device rated current Index: 24477d = 5F9Dh
Display of the rated inverter current which is defined by the integrated power section.
0.0 A 6000.0
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 10
C00099
Parameter | Name: Data type: VISIBLE_STRING

C00099 | Firmware version Index: 24476d = 5F9Ch
Display of the firmware version of the device as string

 Read access  Write access  CINH  PLC-STOP  No transfer  COM  MOT Character length: 12
________________________________________________________________
C00100

C00100 | Firmware version Index: 24475d = 5F9Bh
Display of the firmware version of the device, divided into subsections.

0 99
Subcodes Info
C00100/1 Firmware version - main version
C00100/2 Firmware version - subversion
C00100/3 Firmware version - release
C00100/4 Firmware version - build
C00101

C00101 | Add. accel. time x Index: 24474d = 5F9Ah
The L_NSet_1: FB: Additional acceleration times for the main setpoint
• The additional acceleration times set here can be selected via the binary inputs bTI1 ... bTI8 of the L_NSet_1 FB.
0.000 s 999.999
C00101/1 0.000 s Add. accel. time 1 ... 15
C00101/...
C00101/15
C00103

C00103 | Add. decel. time x Index: 24472d = 5F98h
The L_NSet_1 FB: Additional deceleration times for the main setpoint
• The additional deceleration times set here can be selected via the binary inputs bTI1 ... bTI8 of the L_NSet_1 FB.
0.000 s 999.999
C00103/1 0.000 s Add. decel. time 1 ... 15
C00103/...
C00103/15
C00105

C00105 | Decel. time - quick stop Index: 24470d = 5F96h
The set deceleration time determines the ramp slope at quick stop
Activate/deactivate quick stop
0.000 s 999.900 2.000 s
________________________________________________________________
C00106

C00106 | Auto DCB: Hold time Index: 24469d = 5F95h
Hold time of the automatic DC injection brake

• The DC injection brake is applied for the time set here if the value falls below the speed setpoint set in C00019.
0.000 s 999.000 0.500 s
C00107

C00107 | DC braking: Hold time Index: 24468d = 5F94h
Maximum hold time of the manual DC injection brake

• A time can be set here after which the DC injection brake is switched off automatically to prevent the motor from
thermal overload.
• When "999.000 s" is set, the hold time is infinite.
0.000 s 999.000 999.000 s
C00114

C00114 | DigInX: Inversion Index: 24461d = 5F8Dh
The polarity of each digital input of the device can be inverted via this bit field.
Digital terminals
Setting range (min. hex value | max. hex value) Lenze setting
0x0000 0xFFFF 0x0000 (decimal: 0)
Value is bit-coded: ( = bit set) Info
Bit 0  DI1 inverted Inversion of digital input 1
Bit 4  Reserved
Bit 5  Reserved
Bit 6  Reserved
Bit 7  Reserved
Bit 8  Reserved
Bit 9  Reserved
Bit 10  Reserved
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Reserved
Bit 15  CInh inverted Inversion of digital input RFR (controller enable)
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT
________________________________________________________________
C00115

C00115 | DI1| DI2: Function Index: 24460d = 5F8Ch
Function assignment of the digital terminals DI1 and DI2

Digital terminals: Function assignment
Selection list Info
0 DI1=In1 | DI2=In2 DI1 = digital input
DI2 = digital input
1 DI1=FreqIn12 | DI2=In2 DI1 = 1-track frequency input
DI2 = digital input
2 (DI1/DI2)=FreqIn12 (2-track) DI1 and DI2 = 2-track frequency input
3 (DI1/DI2=+-)=FreqIn12 DI1 = 1-track frequency input
DI2 = specification of direction
4 DI1=CountIn1 | DI2=In2 DI1 = counter input
DI2 = digital input
C00115/1 0: DI1=In1 | DI2=In2 Function assignment of DI1 and DI2
C00118

C00118 | DigOutX: Inversion Index: 24457d = 5F89h
The polarity of each digital output of the device can be inverted via this bit field.
0x00 0xFF 0x00 (decimal: 0)
Bit 0  Relay inverted Relay inversion
Bit 1  DO1 inverted Inversion of digital output 1
Bit 2  Reserved
Bit 3  Reserved
Bit 4  Reserved
Bit 5  Reserved
Bit 6  Reserved
Bit 7  Reserved
C00120

C00120 | Setting of motor overload (I²xt) Index: 24455d = 5F87h
Operating threshold for the "OC6: Motor overload (I²xt)" error message
• The response for reaching the threshold can be selected in C00606.
• The current thermal motor load is displayed in C00066.
0.00 % 250.00 100.00 %
________________________________________________________________
C00122

C00122 | Initial value motor overload (I²xt) Index: 24453d = 5F85h

The thermal motor load displayed in C00066 is pre-initialised with the value set here when the device is connected
to the mains.
• If "100.00 %" is set, the last value at switching off the device is used for the initialisation.
• Recommended setting for operation according to UL: 50.00 %
0.00 % 100.00
C00122/1 0.00 % Initial value motor overload (I²xt)
C00123

C00123 | Device utilisation threshold (Ixt) Index: 24452d = 5F84h
Operating threshold for the "OC5: Device overload (Ixt)" error message
• The current device utilisation is displayed in C00064.
0.00 % 200.00 100.00 %
C00129

C00129 | Brake resistance value Index: 24446d = 5F7Eh

Resistance value of the connected brake resistor
• The value to be entered can be obtained from the nameplate of the brake resistor.
0.0 Ohm 500.0 39.0 Ohm
C00130

C00130 | Rated power - brake resistor Index: 24445d = 5F7Dh

Rated power of the connected brake resistor
0 W 65535 100 W
________________________________________________________________
C00131

C00131 | Rated heat amount of brake resist. Index: 24444d = 5F7Ch

Thermal capacity of the connected brake resistor
0.0 kWs 6553.5 10.0 kWs
C00133

C00133 | Brake resistor utilisation Index: 24442d = 5F7Ah

Display of the utilisation of the connected brake resistor
0 % 65535
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1
C00134

C00134 | L_NSet_1: Ramp smoothing Index: 24441d = 5F79h
The L_NSet_1 FB: Configuration of the ramp rounding for the main setpoint
0 Off Ramp rounding deactivated
1 PT1 behaviour Ramp rounding with PT1 behaviour
• The corresponding S-ramp time must be set in
C00182.
________________________________________________________________
C00136

C00136 | Communication control words Index: 24439d = 5F77h
Control words of the communication interfaces

Display area (min. hex value | max. hex value)
0x0000 0xFFFF
Value is bit-coded:
Bit 0 SwitchOn
Bit 1 DisableVoltage
Bit 2 SetQuickStop
Bit 3 EnableOperation
Bit 7 ResetFault
Bit 8 SetHalt
Bit 9 Reserved_1
Bit 10 Reserved_2
Bit 14 SetFail
Subcodes Info
C00136/1 MCI control word
• Control word of the MCI communication interface
(communication module)
C00136/2 CAN control word
• Control word of the CAN communication interface
(CAN on board)
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT
________________________________________________________________
C00137

C00137 | Device status Index: 24438d = 5F76h
Display of the current device status

Selection list (read only)
0 FirmwareUpdate
1 Init
2 Ident
3 ReadyToSwitchON
4 SwitchedON
5 OperationEnable
6 Warning
7 Trouble
8 Fault
9 TroubleQSP
10 SafeTorqueOff
11 SystemFail
12 Reserved_1
13 Reserved_2
14 Reserved_3
15 Reserved_4
________________________________________________________________
C00138

C00138 | Internal control signals Index: 24437d = 5F75h
Bit coded display of internal control signals of different sources

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Reserved
Bit 1 DisableVoltage
Bit 2 SetQuickStop
Bit 3 EnableOperation
Bit 4 InitFinishedOK
Bit 7 ResetFault
Bit 8 SetHalt
Bit 9 FirmwareUpdate
Bit 10 MotorIdent
Bit 11 SetMessage
Bit 12 SetIMP
Bit 13 SetSystemFail
Bit 14 SetFail
Bit 15 SetFailQSP
Subcodes Info
C00138/1 SYS control signals
C00138/2 MCK control signals
C00138/3 FWM control signals
________________________________________________________________
C00142

C00142 | Auto-start option Index: 24433d = 5F71h
Starting performance of the controller after mains connection, undervoltage, loading of the Lenze setting as well as
a reset of "Trouble" or "Fault" can be parameterised individually.
Automatic restart after mains connection/fault...
Bit 0  Inhibit at power-on
Bit 1  Inhibit at trouble
Bit 2  Inhibit at fault
Bit 3  Inhibit at undervoltage
Bit 4  Inhibit at Lenze setting From version 06.00.00
Bit 5  Reserved
Bit 6  Reserved
Bit 7  Reserved
C00144

C00144 | Switching freq. reduct. (Temp.) Index: 24431d = 5F6Fh
Activation of the automatic switching frequency reduction if the temperature is too high
0 Off Automatic switching frequency reduction deactivated
1 On Automatic switching frequency reduction activated
________________________________________________________________
C00148

C00148 | LS_DriveInterface: Error message config. Index: 24427d = 5F6Bh

Selection of the device statuses for which the bCollectedFail group error output of SB LS_DriveInterface is to be set
to TRUE.
Bit 3  TroubleQSP From version 06.00.00
Bit 4  Trouble
Bit 5  Fault
Bit 6  Warning
Bit 7  ImpIsActive
Bit 8  CInhIsActive
Bit 10  Reserved
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Lock bFail at TroubleQSP From version 11.00.00
1 ≡ The bFail output of the SB LS_DriveInterface is also
set in the "TroubleQSP" status.
• Advantage: Even in the "TroubleQSP" status, an error
occurred before can still be recognised.
Bit 15  Use 16BitFailNo. From version 06.00.00
1 ≡ The short 16-bit error number
wStateDetermFailNoShort is provided at the
wStateDetermFailNoLow output of the
SB LS_DriveInterface.
• In this case, the wStateDetermFailNoHigh output is
"0".
• Advantage: The bus transfer of the error numbers is
possible via a data word without changing the
interconnection of the technology application.
________________________________________________________________
C00150

C00150 | Status word Index: 24425d = 5F69h
Bit coded device status word

0x0000 0xFFFF
Value is bit-coded: Info
Bit 0 FreeStatus Free status bit 0
Bit 1 PowerDisabled Power switched off
Bit 6 ActSpeedIsZero Current speed is 0
Bit 7 ControllerInhibit Controller is inhibited
Bit 8 StatusCodeBit0 Status code bit 0
Bit 12 Warning Warning
Bit 13 Trouble Trouble
________________________________________________________________
C00155

C00155 | Extended status word Index: 24420d = 5F64h
Bit coded device status word 2

0x0000 0xFFFF
Bit 0 Fail Fault
Bit 1 M_max Maximum torque
Bit 2 I_max Maximum current
Bit 3 PowerDisabled Power switched off
Bit 4 Ready Controller is ready for operation
Bit 5 ControllerInhibit Controller is inhibited
Bit 6 Trouble Trouble
Bit 7 InitState Initialisation
Bit 8 CwCcw CW/CCW rotation
Bit 9 TroubleQSP Quick stop due to fault is active
Bit 10 SafeTorqueOff Safe torque off
Bit 11 AplicationRunning Application is running
Bit 12 AplParSetBit0 Application parameter set - bit 0
Bit 13 AplParSetBit1 Application parameter set - bit 1
Bit 14 Quick stop Quick stop active
Bit 15 Motor parameter identification Motor parameter identification is active
________________________________________________________________
C00158

C00158 | Cause of controller inhibit Index: 24417d = 5F61h
Bit coded display of the cause/source of the controller inhibit

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Terminal controller enable
Bit 3 SwitchOn
Bit 4 Application
Bit 5 Device command
Bit 6 Error response
Bit 8 Reserved
Bit 9 Reserved
Bit 10 AutoStartLock
Bit 11 Motor parameter identification
Bit 12 Automatic brake operation
Bit 13 DCB-IMP
Bit 14 Reserved
Bit 15 Reserved
________________________________________________________________
C00159

C00159 | Cause of quick stop QSP Index: 24416d = 5F60h
Bit coded display of the cause/source of the quick stop

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Reserved
Bit 3 Reserved
Bit 4 Application
Bit 5 Device command
Bit 6 Error response
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Operating system
Bit 11 Reserved
Bit 12 MCK
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C00160

C00160 | Status determining error (16bit) Index: 24415d = 5F5Fh

Display of the short 16-bit error number of the status determining error
0 65535
Subcodes Info
C00160/1 Status determining error (16-bit)
________________________________________________________________
C00161

C00161 | LS_SetError_x: Error number Index: 24414d = 5F5Eh
Setting of the error number for user error messages

0 65535
C00161/1 1 LS_SetError_1: Error no.1
C00162

C00162 | Error number masked Index: 24413d = 5F5Dh

Display of the 32-bit error number of the status determining error without error type
• The error number displayed here only contains the error subject area and error ID (lower 26 bits of the 32-bit error
number)
0 4294967295
Subcodes Info
C00162/1 Subject area + Id statuserror
C00163

C00163 | Logbook - binary elements Index: 24412d = 5F5Ch
Selection of two binary signals to be logged in the logbook

Selection list Info
0 No signal
1 DI1: Input signal
2 DI2: Input signal
3 DI3: Input signal
4 DI4: Input signal
5 Controller inhibit signal
6 Digital counter: Comparison bit
7 CAN1 input bit 0
8 CAN1 input bit 1
9 CAN1 input bit 2
10 CAN1 input bit 3
11 CAN1 input bit 4
12 CAN1 input bit 5
13 CAN1 input bit 6
14 CAN1 input bit 7
________________________________________________________________

15 CAN1 input bit 8

16 CAN1 input bit 9
17 CAN1 input bit 10
23 CAN2 input bit 0
24 CAN2 input bit 1
25 CAN2 input bit 2
26 CAN2 input bit 3
27 CAN2 input bit 4
28 CAN2 input bit 5
29 CAN2 input bit 6
30 CAN2 input bit 7
31 CAN2 input bit 8
32 CAN2 input bit 9
39 CAN3 input bit 0
40 CAN3 input bit 1
41 CAN3 input bit 2
42 CAN3 input bit 3
43 CAN3 input bit 4
44 CAN3 input bit 5
45 CAN3 input bit 6
46 CAN3 input bit 7
47 CAN3 input bit 8
48 CAN3 input bit 9
55 MCI word1 input bit0
________________________________________________________________

59 MCI Word 1 Input bit 4

78 MCI word 2 input bit 7
87 Position controller: Limit
88 Speed controller: Limit
89 Speed setpoint: Limit
90 Torque setpoint: Limit
91 Current setpoint: Limit
92 DC injection brake active
93 Quick stop active
94 Pulse inhibit active
95 Controller inhibit active
96 Safe status active
97 Direction of rotation ccw
98 Actual speed = 0
99 L_Or_1: Out
100 L_DFlipFlop_1: Out
101 L_DigitalDelay_1: Out
102 L_Compare_1: Out
________________________________________________________________

103 L_Compare_2: Out

104 L_NSet_1: Setpoint reached
105 L_DigitalLogic_1: Out
106 L_SignalMonitor_b: Out1
110 L_PCTRL_1: act=set
C00163/1 0: No signal Logbook - binary element 1
C00163/2 0: No signal Logbook - binary element 2
C00164

C00164 | Logbook - analog elements Index: 24411d = 5F5Bh
Selection of an analog signal to be logged in the logbook

Selection list Info
0 No signal
1 AIN1
2 CAN1 control word
3 CAN1 input word 2
4 CAN1 input word 3
5 CAN1 input word 4
6 CAN2 input word 1
7 CAN2 input word 2
8 CAN2 input word 3
9 CAN2 input word 4
10 CAN3 input word 1
14 Digital counter LowWord
15 Digital counter HighWord
16 MCI word 1
17 MCI word 2
18 MCI word 3
19 MCI word 4
20 MCI word 5
21 MCI word 6
22 MCI word 7
23 MCI word 8
24 MCI word 9
25 MCI word 10
________________________________________________________________

C00164 | Logbook - analog elements Index: 24411d = 5F5Bh
26 MCI word 11
27 MCI word 12
28 MCI word 13
29 MCI word 14
30 MCI word 15
31 MCI word 16
32 Current motor speed
33 Current motor torque
34 DC-bus voltage
35 Current motor current
36 Current motor voltage
37 Current motor frequency
38 Effective speed setpoint
39 Device utilisation
40 Motor utilisation
41 L_OffsetGainPar_1: Out
44 L_Aritmethik_1: Out
45 L_AnalogSwitch_1: Out
46 L_NSet_1: Out
47 L_MotorPoti_1: Out
48 L_PCTRL_1: Out
49 L_SignalMonitor_a: Out1
53 L_MulDiv_1: Out
54 L_NSet_1: Target setpoint
C00164/1 0: No signal Logbook - analog element 1
C00165

C00165 | Error information Index: 24410d = 5F5Ah
Display of the error number divided into sectors in the event of an error
Subcodes Info
C00165/1 Status determining error
C00165/2 Current error
________________________________________________________________
C00166

C00166 | Error information text Index: 24409d = 5F59h
Display of details on the status determining error and on the currently pending error
Subcodes Info
C00166/1 Resp. to status det. error
• Response to the status determining error
C00166/2 Subj. - status det. error
• Subject area of the status determining error
C00166/3 Mess. - status det. error
• Textual message of the status determining error
C00166/4 Resp. to curr. error
• Response of the currently pending error
C00166/5 Subj. - curr. error
• Subject area of the currently pending error
C00166/6 Mess. - curr. error
• Textual message of the currently pending error
C00167
Parameter | Name: Data type: OCTET_STRING

C00167 | Logbook data Index: 24408d = 5F58h
This code is for device-internal use only and must not be written to by the user!
C00168

C00168 | Status determining error Index: 24407d = 5F57h
Display of the 32-bit error number of the status determining error

0 4294967295
________________________________________________________________
C00169

C00169 | Logbook setting Index: 24406d = 5F56h
Configuration which message types are to be logged in the logbook.

0x0000 0xFFFF 0x067E (decimal: 1662)
Value is bit-coded: ( = bit set)
Bit 0  Reserved
Bit 1  Log entry: Fault
Bit 2  Log entry: Trouble
Bit 3  Log entry: TroubleQuickstop
Bit 4  Log entry: WarningLocked
Bit 5  Log entry: Warning
Bit 6  Log entry: Information
Bit 7  Reserved
Bit 8  Reserved
Bit 9  Activation: Error counter
Bit 10  Activation: Log line refresh
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Reserved
Bit 15  Reserved
C00170

C00170 | Current error Index: 24405d = 5F55h
Display of the internal error number of the currently pending error

0 4294967295
C00171

C00171 | Logbook access index Index: 24404d = 5F54h
________________________________________________________________
C00173

C00173 | Mains voltage Index: 24402d = 5F52h
If the rated mains voltage differs from 230 V or 400 V, set the mains voltage the drive is operated with.
The set mains voltage influences the brake chopper threshold, the monitoring of the device utilisation (Ixt) and the
switch-off threshold in case of undervoltage in the DC bus.
0 3ph 400V / 1ph 230V 3-phase 400 V or 1-phase 230 V
4 Reserved / reserved
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1
C00174

C00174 | Reduc. brake chopper threshold Index: 24401d = 5F51h
The threshold from which on the brake chopper is controlled is reduced by the voltage value set here.
0 V 150 0 V
C00175

C00175 | Brake energy management Index: 24400d = 5F50h

Selection of the braking procedure
Select response if the brake resistor is controlled
0 R_Brems The brake resistor is used. When the threshold voltage
(C00174) is exceeded, the brake resistor is energised.
1 RfgStop The "Ramp function generator stop" signal
(MCTRL_bRfgStop) is used. When the threshold voltage is
exceeded (C00174), the ramp function generator is
stopped.
2 R_Brems + HlgStop The brake resistor and the "Ramp function generator
stop" signal are used. When the threshold voltage is
exceeded (C00174), the brake resistor is energised and
the ramp function generator is stopped.
3 FI_MotBrk + RfgStop From version 04.00.00
Braking is performed by a superimposed speed setpoint
vibration in conjunction with "Ramp function generator
stop".
4 R_Brems + FU_MotBrk + HlgStop From version 04.00.00
Braking is performed by combining all three braking
procedures.
________________________________________________________________
C00176

C00176 | Undervoltage threshold for mains OFF Index: 24399d = 5F4Fh
C00177

C00177 | Switching cycles Index: 24398d = 5F4Eh
Counter of different switching cycles and stressful situations

0 2147483647
Subcodes Info
C00177/1 Number of mains switching cycles
C00177/2 Number of switching cycles of the output relay
C00177/3 Short circuit counter
C00177/4 Earth fault counter
C00177/5 "Clamp" counter
C00177/6 Counter for "safe torque off" (STO) after power-on
C00177/7 Counter for controller inhibit via terminal after power-on
C00177/8 Counter for pulse inhibit (IMP) after power-on
C00178

C00178 | Elapsed-hour meter Index: 24397d = 5F4Dh
Display of operating hours in seconds

0 s 2147483647
C00179

C00179 | Power-on time meter Index: 24396d = 5F4Ch
Display of the power-on time in seconds

0 s 2147483647
________________________________________________________________
C00180

C00180 | Running time Index: 24395d = 5F4Bh
Display of various running times in seconds

0 s 2147483647
Subcodes Info
C00180/1 Running time - control card
C00180/2 Running time - heatsink fan
C00180/3 Running time - internal fan
C00181

C00181 | Time settings Index: 24394d = 5F4Ah

Time for device search function (optical location)
Device search function
0 s 6000
C00181/1 5s Time - device search function
C00182

C00182 | L_NSet_1: S-ramp time PT1 Index: 24393d = 5F49h
FB L_NSet_1: PT1 S-ramp time for the main setpoint ramp function generator
• Only effective with activated ramp rounding (C00134 = "1").
0.01 s 50.00 20.00 s
C00184

C00184 | AutoFailReset repetition time Index: 24391d = 5F47h
After the time set here has expired, an error message of an error that has occurred will be reset automatically if
"AutoFailReset" had been configured correspondingly in C00188.
AutoFailReset function
1 s 600 3 s
________________________________________________________________
C00185

C00185 | AutoFailReset remaining time Index: 24390d = 5F46h
Display of the residual runtime of the "AutoFailReset" function

0 s 600
C00186

C00186 | Max. number of AutoFailReset processes Index: 24389d = 5F45h
Maximum number of "AutoFailReset" procedures

1 16 4
C00187

C00187 | Current AutoFailReset processes Index: 24388d = 5F44h
Data of the current number of "AutoFailReset" procedures

0 16
C00188

C00188 | AutoFailReset configuration Index: 24387d = 5F43h
Setting which error messages are to be reset automatically.

0 Off No automatic error message reset
1 Fault + TroubleQSP Error messages with the response "Fault" and
"TroubleQSP" are reset automatically
2 WarningLocked Error messages with the response "WarningLocked" are
reset automatically
3 All locking All "locking" error messages are reset automatically
________________________________________________________________
C00189

C00189 | Resp. to too frequent AutoFailReset Index: 24386d = 5F42h
Response to exceeding the maximum number of "AutoFailReset" processes set in C00186.

0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00190

C00190 | L_NSet_1: Setpoint arithmetic Index: 24385d = 5F41h
The L_NSet_1 FB: Selection of arithmetics

• To be able to influence the main setpoint (NSet) by an additional setpoint (NAdd).
0 Out = Set
1 Out = Set + Add
2 NOut = NSet - NAdd
3 NOut = (NSet * NAdd) / 100%
4 NOut = (NSet * 1%) / |NAdd|
5 Out = (Set*100%)/(100%-Add)
C00191

C00191 | Logbook access index User Index: 24384d = 5F40h

Logbook read interface
0 255
C00191/1 255 Logbook access index User
________________________________________________________________
C00192

C00192 | Logbook data User Index: 24383d = 5F3Fh

Subcodes Info
C00192/1
C00193

C00193 | Logbook element User Index: 24382d = 5F3Eh

0 2147483647
Subcodes Info
C00193/1 Response index
C00193/2 Activity
C00193/3 Counter
C00193/4 Error type
C00193/5 Error number
C00193/6 Time stamp
C00199

C00199 | Description data Index: 24376d = 5F38h

Parameters for storing decription data for the controller
Device identification
C00199/1 Device name
C00199/2 User text
C00199/3 User text
C00199/4 User text
C00199/5 User text
 Read access  Write access  CINH  PLC-STOP  No transfer  COM  MOT Character length: 32
________________________________________________________________
C00200

C00200 | Firmware product type Index: 24375d = 5F37h
Display of the firmware product type

C00201

C00201 | Firmware Index: 24374d = 5F36h
Display of the firmware data of the control card and the power section
Subcodes Info
C00201/1 Firmware type - ctrl card
C00201/2 Firmware version - ctrl card
C00201/3 Firmware comp. file - ctrl card
C00201/4 Firmware type - power section
C00201/5 Firmware version - power sect.
C00201/6 Firmw. comp. file - power sect.
C00203

C00203 | Product type code Index: 24372d = 5F34h
Display of the types of the individual device components

Subcodes Info
C00203/1 Type: Control card
C00203/2 Type: Power section
C00203/3 Type: MCI module
C00203/4 Reserved
C00203/5 Type: Memory module
C00203/6 Type: Safety card
C00203/7 Type: Standard device
C00203/8 Type: Complete device
C00203/9 Reserved
________________________________________________________________
C00204

C00204 | Serial number Index: 24371d = 5F33h
Display of the serial numbers of the individual device components

Subcodes Info
C00204/1 Serial no.: Control card
C00204/2 Serial no.: Power section
C00204/3 Serial no.: MCI module
C00204/4 Reserved
C00204/5 Serial no.: Memory module
C00204/6 Serial no.: Safety card
C00204/7 Serial no.: Standard device
C00204/8 Serial no.: Complete device
C00204/9 Reserved
C00205

C00205 | Info Index: 24370d = 5F32h
C00206

C00206 | Production date Index: 24369d = 5F31h
C00210

C00210 | HW version Index: 24365d = 5F2Dh
C00219

C00219 | Identity Index: 24356d = 5F24h

0 4294967295
Subcodes Info
C00219/1 CAN manufacturer no.
C00219/2 CAN device type
C00219/3 CAN version
C00219/4 CAN count no.
________________________________________________________________
C00220

C00220 | L_NSet_1: Acceleration time - add. setpoint Index: 24355d = 5F23h
The L_NSet_1 FB: Acceleration time for the additional setpoint nNAdd_a
0.000 s 999.999 0.000 s
C00221

C00221 | L_NSet_1: Deceleration time - add. setpoint Index: 24354d = 5F22h
The L_NSet_1 FB: Deceleration time for the additional setpoint nNAdd_a
0.000 s 999.999 0.000 s
C00222

C00222 | L_PCTRL_1: Vp Index: 24353d = 5F21h
The L_PCTRL_1 FB: Gain factor Vp for the PID process controller
0.1 500.0 1.0
C00223

C00223 | L_PCTRL_1: Tn Index: 24352d = 5F20h
The L_PCTRL_1 FB: Reset time Tn for the PID process controller
20 ms 6000 400 ms
C00224

C00224 | L_PCTRL_1: Kd Index: 24351d = 5F1Fh
The L_PCTRL_1 FB: Derivative-action coefficient Kd for the PID process controller
0.0 5.0 0.0
________________________________________________________________
C00225

C00225 | L_PCTRL_1: MaxLimit Index: 24350d = 5F1Eh
The L_PCTRL_1 FB: Maximum output value of the PID process controller
-199.99 % 199.99 199.99 %
C00226

C00226 | L_PCTRL_1: MinLimit Index: 24349d = 5F1Dh
The L_PCTRL_1 FB: Minimum output value of the PID process controller
-199.99 % 199.99 -199.99 %
C00227

C00227 | L_PCTRL_1: Acceleration time Index: 24348d = 5F1Ch
The L_PCTRL_1 FB: Acceleration time for the output value of the PID process controller
0.000 s 999.999 0.010 s
C00228

C00228 | L_PCTRL_1: Deceleration time Index: 24347d = 5F1Bh
The L_PCTRL_1 FB: Deceleration time for the output value of the PID process controller
0.000 s 999.999 0.010 s
C00231

C00231 | L_PCTRL_1: Operating range Index: 24344d = 5F18h

The L_PCTRL_1 FB: Operating range for the PID process controller
0.00 % 199.99
C00231/1 199.99 % L_PCTRL_1: Pos. maximum
C00231/2 0.00 % L_PCTRL_1: Pos. minimum
C00231/3 0.00 % L_PCTRL_1: Neg. minimum
C00231/4 199.99 % L_PCTRL_1: Neg. maximum
________________________________________________________________
C00233

C00233 | L_PCTRL_1: Root function Index: 24342d = 5F16h
The L_PCTRL_1 FB: Use of the root function at the actual value input
0 Off Root function inactive
• The actual value nAct_a remains unchanged for
further processing
1 On Root function active
• The root is extracted of the actual value nAct_a for
further processing
C00234

C00234 | Oscillation damping influence Index: 24341d = 5F15h
0.00 % 250.00 5.00 %
C00235

C00235 | Oscillation damping filter time Index: 24340d = 5F14h
2 ms 250 32 ms
C00236

C00236 | Field weakening oscillation damping Index: 24339d = 5F13h
Oscillation damping for idling machines

0 40 14
C00241

C00241 | L_NSet_1: Hyst. NSet reached Index: 24334d = 5F0Eh
The L_NSet_1 FB: Hysteresis window for the zero detection of the speed output setpoint
• The speed threshold for the zero detection is 1 %
0.00 % 100.00 0.50 %
________________________________________________________________
C00242

C00242 | L_PCTRL_1: Operating mode Index: 24333d = 5F0Dh
The L_PCTRL_1 FB: Selection of the operating mode

• Depending on the selection, the blue switches in the displayed signal flow are set accordingly in the Engineer on
the Application parameters tab for the L_PCTRL_1 FB.
0 Off The input setpoint nNSet_a is output without any
changes at the output nOut_a.
1 nNSet + nNSet_PID nNSet_a and nAct_a are used as PID input values. The
arriving nNSet_a is additively linked to the value output
by the PID element.
2 nSet_PID nSet_a and nAct_a are used as PID input values. The
input nNSet_a is not considered.
3 nNSet_PID nNSet_a and nAct_a are used as PID input values. The
input nSet_a is not considered.
4 nNSet + nSet_PID nSet_a and nAct_a are used as PID input values. The
arriving nNSet_a setpoint is additively linked to the value
output by the PID element.
5 nNSet || nSet_PID nSet_a and nAct_a are used as PID input values. The
setpoint nNSet_a is output at the output nOut_a . The
PID output value is output at the output nPIDOut_a.
C00243

C00243 | L_PCTRL_1: Acceleration time influence Index: 24332d = 5F0Ch
The L_PCTRL_1 FB: Acceleration time for showing the PID output value
0.000 s 999.999 5.000 s
C00244

C00244 | L_PCTRL_1: Deceleration time influence Index: 24331d = 5F0Bh
The L_PCTRL_1 FB: Deceleration time for masking out the PID output value
0.000 s 999.999 5.000 s
C00245

C00245 | L_PCTRL_1: PID output value Index: 24330d = 5F0Ah
The L_PCTRL_1 FB: Display of the output value of the PID process controller
-199.99 % 199.99
________________________________________________________________
C00246

C00246 | L_PCTRL_1: nAct_a internal Index: 24329d = 5F09h

FB L_PCTRL_1: Display of the internal actual value
-199.99 % 199.99
C00247

C00247 | L_PCTRL_1: Window setpoint reached Index: 24328d = 5F08h

FB L_PCTRL_1: Window for comparison operation "actual value = setpoint"
0.00 % 100.00 2.00 %
C00249

C00249 | L_PT1_1: Time constant Index: 24326d = 5F06h
FB L_PT1_1: Time constant Tn

0 ms 5000 2000 ms
C00254

C00254 | Service parameter Index: 24321d = 5F01h
C00265

C00265 | SLVC: Tn torque controller Index: 24310d = 5EF6h
C00270

C00270 | SC: Freq. current setpoint filter Index: 24305d = 5EF1h
Frequency to be inhibited by the current setpoint filter at sensorless control for synchronous motors (SLPSM).
40.0 Hz 1000.0 200.0 Hz
________________________________________________________________
C00271

C00271 | SC: Width of current setpoint filter Index: 24304d = 5EF0h
Frequency width of the current setpoint filter with sensorless control for synchronous motors (SLPSM)
• Width around the frequency to be inhibited (C00270).
0.0 Hz 500.0 0.0 Hz
C00272

C00272 | SC: Depth of current setpoint filter Index: 24303d = 5EEFh
Damping of the current setpoint filter with sensorless control for synchronous motors (SLPSM)
0 dB 100 0 db
C00273

C00273 | Moment of inertia motor Index: 24302d = 5EEEh

Moment of inertia for setpoint feedforward control with sensorless vector control (SLVC)
0.00 kg cm^2 6000000.00 0.00 kg cm^2
C00274

C00274 | SC: Max. change in acceleration Index: 24301d = 5EEDh
Limitation of the acceleration change with sensorless control for synchronous motors (SLPSM)
• Setting in % of M_Nenn per ms.
0.0 %/ms 400.0 400.0 %/ms
C00275

C00275 | Filter setpoint feedforward control Index: 24300d = 5EECh

Filter time of the setpoint feedforward control with sensorless vector control (SLVC)
• The setpoint feedforward control requires the entry of the moment of inertia in C00273.
0.0 ms 1000.0 1.0 ms
________________________________________________________________
C00276

C00276 | SC: Max. output voltage Index: 24299d = 5EEBh

80 % 99 95 %
C00280

C00280 | SC: Filter time const. DC detection Index: 24295d = 5EE7h

1 ms 1000 25 ms
C00290

C00290 | RCOM error counter Index: 24285d = 5EDDh
C00291

C00291 | Error type RCOM Index: 24284d = 5EDCh
C00295

C00295 | savezycle memory modul Index: 24280d = 5ED8h
C00296

C00296 | ICOM error number Index: 24279d = 5ED7h
C00297

C00297 | Counter Receive Error Isr Index: 24278d = 5ED6h
C00301

C00301 | DebugAccess Index: 24274d = 5ED2h
________________________________________________________________
C00302

C00302 | Internal Commands Index: 24273d = 5ED1h
C00304

C00304 | Password1 Index: 24271d = 5ECFh
C00305

C00305 | Password2 Index: 24270d = 5ECEh
C00306

C00306 | Debug address Index: 24269d = 5ECDh
C00307

C00307 | Debug value Index: 24268d = 5ECCh
C00308

C00308 | PartitionOffset Index: 24267d = 5ECBh
C00309

C00309 | PartitionSel Index: 24266d = 5ECAh
C00310

C00310 | PartitionValue Index: 24265d = 5EC9h
C00311

C00311 | Runtime measurement Index: 24264d = 5EC8h
________________________________________________________________
C00312

C00312 | System runtimes Index: 24263d = 5EC7h

0.000 μs 1638.375
C00312/1 0.000 μs System runtime reserve
C00313

C00313 | LS_DataAccess: Activation Index: 24262d = 5EC6h
C00314

C00314 | LS_DataAccess: Address access Index: 24261d = 5EC5h
C00315

C00315 | SystemFail-Adr Index: 24260d = 5EC4h
C00316

C00316 | SystemFail-Info Index: 24259d = 5EC3h
C00317

C00317 | WatchdogTimeMax Index: 24258d = 5EC2h
C00320

C00320 | Debug information Index: 24255d = 5EBFh
________________________________________________________________
C00321

C00321 | Main program runtime Index: 24254d = 5EBEh
Display of the current and the maximum runtime of the main program in the controller
0 ms 65535
C00321/1 0 ms Curr. runtime of main program
C00321/2 0 ms Max. runtime of main program
C00322

C00322 | Transmission mode CAN TxPDOs Index: 24253d = 5EBDh
TPDO transmission type according to DS301 V4.02

• The following transmission modes are supported:
• 0: Synchronous and acyclic
• 1 ... 240: Synchronous and cyclic
• 252: Synchronous - RTR only
• 253: Asynchronous - RTR only
• 254: Asynchronous - manufacturer-specific
• 255: Asynchronous - device-profile specific
• The basic setting for all PDOs is "Asynchronous - manufacturer-specific" (254).
• Illustration of the CANopen objects I-1800/2 ... I-1803/2 (see DS301 V4.02).
0 255
C00322/1 254 Transmission mode CAN1 OUT
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1
________________________________________________________________
C00323

C00323 | Transmission mode CAN Rx PDOs Index: 24252d = 5EBCh
RPDO transmission type according to DS301 V4.02

• In the case of the RPDO serves as monitoring setting in the case of sync-controlled PDOs.
• The following transmission modes are supported:
• 0: Synchronous and acyclic
• 1 ... 240: Synchronous and cyclic
• 252: Synchronous - RTR only
• 253: Asynchronous - RTR only
• 254: Asynchronous - manufacturer-specific
• 255: Asynchronous - device-profile specific
• The basic setting for all PDOs is "Asynchronous - manufacturer-specific" (254).
• Illustration of the CANopen objects I-1400/2 ... I-1403/2 (see DS301 V4.02).
0 255
C00323/1 254 Transmission mode CAN1 IN
C00324

C00324 | CAN transmission blocking time Index: 24251d = 5EBBh

Blocking time for the transmission of the emergency telegram and the process data
Note:
If the "Asynchronous - manufacturer-specific/device profile-specific" transmisson type is set, the transmission cycle
timer is reset to 0 if event-controlled transmission has been triggered.
Example: Cycle time (C00356/x) = 500 ms, blocking time = 100 ms, data change sporadically:
• In the case of a sporadic data change < 500 ms, due to the blocking time set, transmission takes place every
100 ms (event-controlled transmission) as quickly as possible.
• In the case of a sporadic data change > 500 ms, due to the cycle time set, transmission takes place every 500 ms
(cyclic transmission).
0 ms 6500
C00324/1 0 ms CAN emergency blocking time
C00324/2 0 ms CAN1_OUT blocking time
________________________________________________________________
C00338

C00338 | L_Arithmetik_1: Function Index: 24237d = 5EADh
The L_Arithmetik_1 FB: Selection of internal arithmetics

0 Out = In1
1 Out = In1 + In2
2 nOut_a = nIn1_a - nIn2_a
3 Out = (In1 * In2) / 100%
4 nOut_a = (nIn1_a * 1%) / |nIn2_a|
5 nOut_a = (nIn1_a * 100%) / (100% -
nIn2_a)
C00339

C00339 | L_Arithmetik_2: Function Index: 24236d = 5EACh

The L_Arithmetik_2 FB: Selection of internal arithmetics
0 nOut_a = nIn1_a
1 nOut_a = nIn1_a + nIn2_a
2 nOut_a = nIn1_a - nIn2_a
3 nOut_a = (nIn1_a * nIn2_a) / 100%
4 nOut_a = (nIn1_a * 1%) / |nIn2_a|
5 nOut_a = (nIn1_a * 100%) / (100% -
nIn2_a)
________________________________________________________________
C00341

C00341 | CAN management - error configuration Index: 24234d = 5EAAh

Selection of the events for which the bFail error output of the LS_CANMAnagement SB must be set to TRUE.
Bit 0  BusOff_MsgErr
Bit 1  Warning
Bit 2  NodeStopped
Bit 3  HeartBeatEvent
Bit 7  CAN4_In_Überw. From version 15.00.00
Bit 8  Reserved
Bit 9  Reserved
Bit 10  Reserved
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Reserved
Bit 15  Reserved
________________________________________________________________
C00342

C00342 | CAN decoupling PDOInOut Index: 24233d = 5EA9h

Configuration defining the events that lead to a decoupling of the process data words.
Configuring exception handling of the CAN PDOs
Setting range (min. hex value | max. hex value)
0x0000 0xFFFF
Bit 0 BusOff_MsgErr
Bit 1 Warning
Bit 2 NodeStopped
Bit 3 HeartBeatEvent
Bit 4 CAN1_In_Überw.
Bit 7 CAN4_In_Überw. From version 15.00.00
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Trouble
Bit 15 Fault
C00342/1 0x0000 CAN decoupling PDO_In from the bus
C00342/2 0x0000 CAN decoupling PDO_Out from the appl.
________________________________________________________________
C00343

C00343 | LP_CanIn decoupling value Index: 24232d = 5EA8h

Definition of the value the process data words are to have in the decoupled state.
Configuring exception handling of the CAN PDOs
0 65535
C00343/1 0 LP_CanIn1:wCtrl DiscVal
C00343/2 0 LP_CanIn1:wIn2 DiscVal
________________________________________________________________
C00344

C00344 | LP_CanOut decoupling value Index: 24231d = 5EA7h

Definition of the value the process data words are to have in the decoupled state.
Configuring exception handling of the CAN-PDOs
0 65535
C00344/1 0 LP_CanOut1:wState DiscVal
C00344/2 0 LP_CanOut1:wOut2 DiscVal
C00345

C00345 | CAN error status Index: 24230d = 5EA6h

0 No Error
1 Warning ErrActive
2 Warning ErrPassive
3 Bus off
4 Reserved
5 Reserved
________________________________________________________________
C00347

C00347 | CAN status HeartBeat producer Index: 24228d = 5EA4h

Heartbeat protocol
Selection list
0 Boot-up
4 Stopped
5 Operational
127 Pre-Operat.
250 Failed
255 NoResponse
Subcodes Info
C00347/1 Status node 1 ... 7
C00347/...
C00347/7
C00349

C00349 | CAN setting - DIP switch Index: 24226d = 5EA2h
DIP switch setting during last mains power-on

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Node address 1
Bit 7 Baud rate 1
Bit 8 Baud rate 2
Bit 9 Baud rate 4
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 DIP switch at 24V-ON accepted
________________________________________________________________
C00350

C00350 | CAN node address Index: 24225d = 5EA1h
Setting of the node address via parameters

• The node address can only be parameterised if the node address "0" is set via the DIP switches.
• A change in the node address will not be effective until a CAN Reset Node is performed.
1 127 1
C00351

C00351 | CAN baud rate Index: 24224d = 5EA0h
Setting of the baud rate via parameters

• The baud rate can only be parameterised if the baud rate "0" is set via the DIP switches.
• A change in the baud rate will not be effective until a CAN Reset Node is performed.
0 500 kbps
1 250 kbps
2 125 kbps
3 50 kbps
4 1000 kbps
5 20 kbps
C00352

C00352 | CAN slave/master Index: 24223d = 5E9Fh
The drive starts as CAN master after mains switching if a value of "1" has been entered and saved here.
0 Slave
1 Master
________________________________________________________________
C00353

C00353 | CAN IN/OUT COBID source Index: 24222d = 5E9Eh
Identifier assignment procedure for the CANx In/Out process data

System bus "CAN on board": Identifier of the process data objects
Selection list Info
0 COBID = C0350 + LenzeBaseID COBID = node address + LenzeBaseID
1 COBID = C0350 + CANBaseID COBID = node address + CANBaseID (C00354/x)
2 COBID = C0354/x COBID = direct setting from C00354/x
C00353/1 1: COBID = C0350 + CANBaseID COBID source CAN1_IN/OUT
C00354

C00354 | COBID Index: 24221d = 5E9Dh
Setting of the default COBID according to CANopen

• A change in the COBID will not be effective until a CAN reset node is performed.
0x00000000 0xFFFFFFFF
Bit 0 COBID Bit0 • Bit 0 ... 10: COB-ID
... ... • Bit 11 ... 30: Reserved
• Bit 31: PDO invalid (is not transmitted)
Bit 31 PDO invalid
C00354/1 0x00000201 COBID CAN1_IN
C00354/2 0x00000181 COBID CAN1_OUT
C00354/3 0x00000301 COBID CAN2_IN
C00354/4 0x00000281 COBID CAN2_OUT
C00354/5 0x00000401 COBID CAN3_IN
C00354/6 0x00000381 COBID CAN3_OUT
C00354/7 0x00000501 COBID CAN4_IN
C00354/8 0x00000481 COBID CAN4_OUT
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT
________________________________________________________________
C00355

C00355 | Active COBID Index: 24220d = 5E9Ch
Display of the COBID of the PDOs that is active in the CAN stack
0 2047
Subcodes Info
C00355/1 Active COBID CAN1_IN
C00355/2 Active COBID CAN1_OUT
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1
C00356

C00356 | CAN time settings Index: 24219d = 5E9Bh
Different time settings for the CAN interface

0 ms 65000
C00356/1 3000 ms CAN delay boot-up - operat.
• Delay time for NMT state change from "Boot-up" to
"Operational".
C00356/2 0 ms CAN2_OUT cycle time
C00356/4 0 ms CANx_OUT operat. - 1.transmit
• When the "Operational" NMT status is reached, the
delay time set here is started. After the delay time has
been elapsed, the PDOs CAN2_OUT and CAN3_OUT
are sent for the first time.
________________________________________________________________
C00357

C00357 | CAN monitoring times Index: 24218d = 5E9Ah
Mapping of the RPDO event time (see DS301 V4.02)

• If a value unequal to "0" is entered, the RPDO is not expected before the set time has expired.
• If the RPDO is not received within the expected time, the response set in C00593/1...4 will be triggered.
0 ms 65000
C00357/1 3000 ms CAN1_IN monitoring time
C00358

C00358 | CANx_OUT data length Index: 24217d = 5E99h

Setting of the data length for TX PDOs
1 8
C00358/1 8 CAN1_OUT data length
C00359

C00359 | CAN status Index: 24216d = 5E98h

0 Operational
1 Pre-Operat.
2 Reserved
3 Reserved
4 BootUp
5 Stopped
6 Reserved
7 Reset
________________________________________________________________
C00360

C00360 | CAN telegram counter Index: 24215d = 5E97h

0 65535
Subcodes Info
C00360/1 All PDO/SDO sent
C00360/2 All PDO/SDO received
C00360/3 Telegram counter CAN1_OUT
C00360/6 Telegram counter SDO1 OUT
C00360/7 Telegram counter SDO2 OUT
C00360/8 Telegram counter CAN1_IN
C00360/11 Telegram counter SDO1 IN
C00360/12 Telegram counter SDO2 IN
C00364

C00364 | CAN MessageError Index: 24211d = 5E93h

0 No Error
1 StuffError
2 FormError
3 AckError
4 Bit1Error
5 Bit0Error
6 CRCError
7 Reserved
________________________________________________________________
C00366

C00366 | Number of CAN SDO channels Index: 24209d = 5E91h
Functional change from version 05.01.00 onwards

Selection of the number of active parameter data channels
• Up to and including version 05.00.00, the parameter channels 1 and 2 are activated in the Lenze setting.
• From version 05.01.00 onwards, only the parameter data channel 1 is activated in the Lenze setting according to
CANopen. In order to activate both parameter data channels according to the previous behaviour, set
"2 SDO Lenze".
0 1 SDO CANOpen
1 2 SDO Lenze
C00367

C00367 | CAN SYNC Rx identifier Index: 24208d = 5E90h
Identifier by means of which the sync slave is to receive sync telegrams.

• Mapping of the CANopen object I-1005 (see DS301 V4.02).
Bit 0  COBID Bit0
Bit 7  COBID Bit7
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Reserved
Bit 15  Reserved
________________________________________________________________
C00368

C00368 | CAN SYNC Tx identifier Index: 24207d = 5E8Fh
Identifier by means of which the sync master is to transmit sync telegrams.

Bit 7  COBID Bit7
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Reserved
Bit 15  Sync-transmit off
C00369

C00369 | CAN sync transmission cycle time Index: 24206d = 5E8Eh
Cycle during which the sync master is to transmit sync telegrams.

• If "0 ms" is set (Lenze setting), no sync telegrams are generated.
0 ms 65000 0 ms
________________________________________________________________
C00370

C00370 | SyncTxRxTimes Index: 24205d = 5E8Dh

-1638 μs 1638
Subcodes Info
C00370/1 CAN Sync instant of transmission
C00370/2 Sync instant of reception
C00371

C00371 | CAN ErrorCode Index: 24204d = 5E8Ch

0 65535
Subcodes Info
C00371/1 CAN ErrorCode
C00372

C00372 | CAN_Tx_Rx_Error Index: 24203d = 5E8Bh

0 255
Subcodes Info
C00372/1 CAN Tx_Error
C00372/2 CAN Rx_Error
C00372/3 CAN Tx_Overflow
C00372/4 CAN Rx_Overflow
C00381

C00381 | CAN Heartbeat producer time Index: 24194d = 5E82h
Time interval for the transmission of the heartbeat telegram to the consumer(s).
• The heartbeat telegram is sent automatically as soon as a time > 0 ms is set.
0 ms 65535 0 ms
________________________________________________________________
C00385

C00385 | CAN node addr. HeartBeat producer Index: 24190d = 5E7Eh

The subcodes represent the nodes to be monitored by heartbeat.
0 127
C00385/1 0 CAN node address HeartBeat Producer 1 ... 7
C00385/...
C00385/7
C00386

C00386 | ConsumerTime HeartBeat Producer Index: 24189d = 5E7Dh

The subcodes represent the nodes to be monitored by heartbeat.
0 ms 60000
C00386/1 0 ms ConsumerTime HeartBeat Producer 1 ... 7
C00386/...
C00386/7
C00387

C00387 | CAN-GatewayAddr Index: 24188d = 5E7Ch

CAN gateway
0 127
C00387/1 0 CAN_Gateway: Addr.
________________________________________________________________
C00400

C00400 | LS_PulseGenerator Index: 24175d = 5E6Fh
Time setting of the pulse to be output by the SB LS_PulseGenerator
Note:
The real length of the low or high level at the bSquareWave output is always 1 ms higher than set here in subcode
1 or 2. If "0 ms" is set, a level with a length of 1 ms is created length, for instance, and if "1000 ms" is set, a level with
a length of 1001 ms is created.
0 ms 60000
C00400/1 1000 ms Length of the low level (break) + 1 ms
C00400/2 1000 ms Length of the high level + 1 ms
C00400/3 100 ms From version 06.00.00
Delay time for status signal bFirstCycleDone
• The bFirstCycleDone status signal is set to TRUE when
the first task cycle is complete and the time set here
has expired.
C00401

C00401 | CANxInOut: Inversion Index: 24174d = 5E6Eh

This parameter serves to invert the control/status bits of the CAN port blocks.
CAN port block
0x0000 0xFFFF
Bit 0 Active Bit set = bit is inverted
... ...
Bit 15 Active
C00401/1 0x0000 Inversion of LP_CanIn1.bCtrl1_B0...15
C00401/2 0x0000 Inversion of LP_CanOut1.bState1_B0...15
C00401/3 0x0000 Inversion of LP_CanIn2.bIn1_B0...15
C00401/4 0x0000 Inversion of LP_CanOut2.bOut1_B0...15
________________________________________________________________
C00407

C00407 | LP_CanIn Mapping Index: 24168d = 5E68h

Mapping for port blocks LP_CanIn1...4
• These settings are ORed with the mapping settings for the single words in C00409/x.
CAN port block
0 4294967295
C00407/1 0 LP_CanIn1:dwIn12 MapVal
C00408

C00408 | LP_CanIn mapping selection Index: 24167d = 5E67h

Selection of the mapping source for port blocks LP_CanIn1...4
CAN port block
Selection list Info
0 CanIn CanIn
1 Par.C409|C407 Mapping configured in C00409
C00408/1 0: CanIn Mapping selection LP_CanIn1
________________________________________________________________
C00409

C00409 | LP_CanIn Mapping Index: 24166d = 5E66h

Mapping for port blocks LP_CanIn1...4
• These settings are ORed with the mapping settings for the double words in C00407/x.
CAN port block
0 65535
C00409/1 0 LP_CanIn1:wCtrl MapVal
C00409/2 0 LP_CanIn1:wIn2 MapVal
C00409/9 0 LP_CanIn3:wIn1MapVal
C00410

C00410 | L_SignalMonitor_a: Signal sources Index: 24165d = 5E65h
The L_SignalMonitor_a FB: Selection of the signal sources

Selection list
See selection list - analog signals
C00410/1 0: Not connected Signal source for output nOut1_a
________________________________________________________________
C00411

C00411 | L_SignalMonitor_b: Signal sources Index: 24164d = 5E64h
The L_SignalMonitor_b FB: Selection of the signal sources

Selection list
See selection list - digital signals
C00411/1 0: Not connected Signal source for output bOut1
C00412

C00412 | L_SignalMonitor_b: Inversion Index: 24163d = 5E63h
The L_SignalMonitor_b FB: Inversion of the binary outputs

Bit 0  bOut1 inverted Bit set = inversion active
Bit 1  bOut2 inverted
Bit 4  Reserved
Bit 5  Reserved
Bit 6  Reserved
Bit 7  Reserved
C00413

C00413 | L_SignalMonitor_a: Offs./gain Index: 24162d = 5E62h
The L_SignalMonitor_a FB: Gain and offset of the analog signals

-199.99 % 199.99
C00413/1 0.00 % Offset for output nOut1_a
C00413/2 100.00 % Gain for output nOut1_a
________________________________________________________________
C00420

C00420 | Number of encoder increments Index: 24155d = 5E5Bh
Indication of the encoder constant

1 Incr./rev. 32767
C00420/1 128 incr./rev. FreqIn12: Encoder increment
C00423

C00423 | DOx: Delay times Index: 24152d = 5E58h
Delay times for the digital output terminals

0.000 s 65.000
C00423/1 0.000 s Relay ON delay
C00423/2 0.000 s Relay OFF delay
C00423/3 0.000 s DO1 ON delay
C00423/4 0.000 s DO1 OFF delay
C00425

C00425 | Encoder scanning time Index: 24150d = 5E56h

Encoder sample time for the digital input terminals when configured as frequency inputs
Using DI1 and DI2 as frequency inputs
Selection list
0 1 ms
1 2 ms
2 5 ms
3 10 ms
4 20 ms
5 50 ms
6 100 ms
7 200 ms
8 500 ms
9 1000 ms
C00425/1 3: 10 ms FreqIn12: Encoder scanning time
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1
________________________________________________________________
C00434

C00434 | O1U: Gain Index: 24141d = 5E4Dh
Gain of the analog output

Analog terminals
-199.99 % 199.99
C00434/1 100.00 % O1U: Gain
C00435

C00435 | O1U: Offset Index: 24140d = 5E4Ch
Offset of the analog output

Analog terminals
-199.99 % 199.99
C00435/1 0.00 % O1U: Offset
C00436

C00436 | O1U: Voltage Index: 24139d = 5E4Bh
Display of the analog output voltage

Analog terminals
0.00 V 10.00
Subcodes Info
C00436/1 O1U: Output voltage
C00439

C00439 | O1U: Input value Index: 24136d = 5E48h
Display of the input value for the analog output

Analog terminals
-199.99 % 199.99
Subcodes Info
C00439/1 O1U: Input value
________________________________________________________________
C00440

C00440 | LS_AnalogIn1: PT1 time constant Index: 24135d = 5E47h
PT1 time constant (S-ramp time) for the analog input

Analog terminals
0 ms 1000
C00440/1 10 ms PT1 rounding AnalogIn1
C00441

C00441 | Decoupling AnalogOut Index: 24134d = 5E46h

Configuration defining the events that lead to a decoupling of the analog output terminals.
Configuring exception handling of the output terminals
Bit 3  Reserved
Bit 4  Trouble
Bit 5  Fault
Bit 6  Reserved
Bit 7  Reserved
Bit 8  Reserved
Bit 10  Reserved
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Reserved
Bit 15  Reserved
________________________________________________________________
C00442

C00442 | AOut1: Decoupling value Index: 24133d = 5E45h

Definition of the value the analog output terminals are to have in the decoupled state.
0.00 % 100.00
C00442/1 0.00 % AOut1_U: Decoupling value
C00443

C00443 | DIx: Level Index: 24132d = 5E44h
Bit coded display of the level of the digital inputs

0x0000 0xFFFF
Bit 0 DI1 Bit set = HIGH level
Bit 1 DI2
Bit 2 DI3
Bit 3 DI4
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 CINH
Subcodes Info
C00443/1 DIx: Terminal level
C00443/2 DIx: Output level
________________________________________________________________
C00444

C00444 | DOx: Level Index: 24131d = 5E43h
Bit coded display of the level of the digital outputs

0x0000 0xFFFF
Bit 0 Relay Bit set = HIGH level
Bit 1 DO1
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
Subcodes Info
C00444/1 DOx: Input level
C00444/2 DOx: Terminal level
C00445

C00445 | FreqInxx_nOut_v Index: 24130d = 5E42h

Display of the frequency input signals which are fed into the application.
-32767 Incr/ms 32767
Subcodes Info
C00445/1 FreqIn12_nOut_v
________________________________________________________________
C00446

C00446 | FreqInxx_nOut_a Index: 24129d = 5E41h

Display of the frequency input signals which are fed into the application.
-199.99 % 199.99
Subcodes Info
C00446/1 FreqIn12_nOut_a
C00447

C00447 | DigOut decoupling Index: 24128d = 5E40h

Configuration defining the events that lead to a decoupling of the digital output terminals.
Bit 3  Reserved
Bit 4  Trouble
Bit 5  Fault
Bit 6  Reserved
Bit 7  Reserved
Bit 8  Reserved
Bit 10  Reserved
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Reserved
Bit 15  Reserved
________________________________________________________________
C00448

C00448 | DigOut decoupling value Index: 24127d = 5E3Fh

Definition of the value the digital output terminals are to have in the decoupled state.
• Bit set = HIGH level
Bit 0  Relay_ON
Bit 1  DigOut1_ON
Bit 2  Reserved
Bit 3  Reserved
Bit 4  Reserved
Bit 5  Reserved
Bit 6  Reserved
Bit 7  Reserved
Bit 8  Reserved
Bit 9  Reserved
Bit 10  Reserved
Bit 11  Reserved
Bit 12  Reserved
Bit 13  Reserved
Bit 14  Reserved
Bit 15  Reserved
C00449

C00449 | FreqInxx_dnOut_p Index: 24126d = 5E3Eh

Output of the encoder position of the DI1/DI2 frequency input
-2147483647 Incr. 2147483647
Subcodes Info
C00449/1 FreqIn12_dnOut_p
________________________________________________________________
C00453

C00453 | Keypad: Default manual jog Index: 24122d = 5E3Ah

0.000 16000.000
C00453/1 729.001 Keypad: Speed setpoint
C00453/2 56.002 Keypad: Display bar
C00455

C00455 | FB_call table Index: 24120d = 5E38h
C00456

C00456 | Editor level Index: 24119d = 5E37h
C00458

C00458 | SYS_call table Index: 24117d = 5E35h
C00459

C00459 | SYS_Output table Index: 24116d = 5E34h
C00460

C00460 | Remote: Local keyswitch Index: 24115d = 5E33h
________________________________________________________________
C00461

C00461 | Remote: Acceleration/deceleration time Index: 24114d = 5E32h

PC manual control
0.000 s 999.999
C00461/1 2.000 s Remote: Acceleration/deceleration time
C00462

C00462 | Remote: Control Index: 24113d = 5E31h

0 65535
C00462/1 0 Remote: Control mode
C00462/2 0 Remote: Monitoring counter
________________________________________________________________
C00463

C00463 | Remote: MCK control Index: 24112d = 5E30h

This parameter serves to control the functions of the Motion Control Kernel for PC manual control.
0x00000000 0xFFFFFFFF
Value is bit-coded:
Bit 0 OpMode_Bit0
Bit 1 OpMode_Bit1
Bit 2 OpMode_Bit2
Bit 3 OpMode_Bit3
Bit 4 ManJogPos
Bit 5 ManJogNeg
Bit 6 ManExecute2ndSpeed
Bit 7 ReleaseLimitSwitch
Bit 8 HomStartStop
Bit 9 HomSetPos
Bit 10 HomResetPos
Bit 11 EnableSpeedOverride
Bit 12 EnableAccOverride
Bit 13 EnableSRampOverride
Bit 14 PosTeachSetPos
Bit 15 PosTeachActPos
Bit 16 PosExecute
Bit 17 PosFinishTarget
Bit 18 PosDisableFollowProfile
Bit 19 PosStop
Bit 20 PosModeBit0
Bit 21 PosModeBit1
Bit 22 PosModeBit2
Bit 23 PosModeBit3
Bit 24 ProfileNo_Bit0
C00463/1 0x00000000 Remote: MCK control
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT
________________________________________________________________
C00464

C00464 | Remote: Monitoring timeout Index: 24111d = 5E2Fh

200 ms 5000
C00464/1 2000 ms Remote: Monitoring timeout
C00465

C00465 | Keypad: Timeout welcome screen Index: 24110d = 5E2Eh
Time setting for the automatic change of the keypad display to the welcome screen
0 Never show welcome screen
5 5 min
15 15 min
30 30 min
60 60 min
C00466

C00466 | Keypad: Default parameter Index: 24109d = 5E2Dh
Setting of the default parameter for the keypad

0 65535 51
C00467

C00467 | Keypad: Default welcome screen Index: 24108d = 5E2Ch
Selection of the welcome screen for the keypad

0 Main menu
1 Parameter list
C00468

C00468 | Service code Index: 24107d = 5E2Bh
________________________________________________________________
C00469

C00469 | Keypad: Fct. STOP key Index: 24106d = 5E2Ah
Selection of the function for the STOP key on the keypad

0 No response STOP key does not have any function
1 Inhibit controller STOP key sets controller inhibit in the drive
2 Activate quick stop STOP key sets quick stop in the drive
4 Inhibit controller and reset error From version 14.00.00
STOP key sets controller inhibit in the drive. An error
reset is carried out at the same time.
5 Activate quick stop and reset error From version 14.00.00
STOP key sets quick stop in the drive. An error reset is
carried out at the same time.
C00470

C00470 | LS_ParFree_b Index: 24105d = 5E29h
The LS_ParFree_b SB: Setting of the signal level to be output

Selection list
0 False
1 True
C00470/1 0: FALSE Signal level for output bPar1 ... bPar16
C00470/...
C00470/16
C00471

C00471 | LS_ParFree Index: 24104d = 5E28h
The LS_ParFree SB: Setting of the words to be output

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Bit0
... ...
Bit 15 Bit15
C00471/1 0x0000 Value for output wPar1 ... wPar4
C00471/...
C00471/4
________________________________________________________________
C00472

C00472 | LS_ParFree_a Index: 24103d = 5E27h
The LS_ParFree_a SB: Setting of the analog signals to be output

-199.99 % 199.99
C00472/1 0.00 % Value for output nPar1_a
C00473

C00473 | LS_ParFree_v Index: 24102d = 5E26h
The LS_ParFree_v SB: Setting of the speed signals to be output

-32767 Incr./ms 32767
C00473/1 0 incr./ms Values for output nPar1_v ... nPar4_v
C00473/...
C00473/4
C00474

C00474 | LS_ParFree_p Index: 24101d = 5E25h

-2147483647 Incr. 2147483647
C00474/1 0 incr. LS_ParFree: dnPar1_p
________________________________________________________________
C00480

C00480 | LS_DisFree_b Index: 24095d = 5E1Fh
The LS_DisFree_b SB: Display of the input values

0x00 0xFF
Bit 0 bDis1 Signal level input bDis1 ... bDis8
... ...
Bit 7 bDis8
C00481

C00481 | LS_DisFree Index: 24094d = 5E1Eh
The LS_DisFree SB: Display of the input values

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Active
... ...
Bit 15 Active
Subcodes Info
C00481/1 Input values wDis1 ... wDis4
C00481/...
C00481/4
C00482

C00482 | LS_DisFree_a Index: 24093d = 5E1Dh
The LS_DisFree_a SB: Display of the input values

-199.99 % 199.99
Subcodes Info
C00482/1 Input values nDis1_a ... nDis4_a
C00482/...
C00482/4
________________________________________________________________
C00484

C00484 | Application units: Offset Index: 24091d = 5E1Bh

The LS_DisFree_a SB: Offset for display of the input variables in application unit
Display of internal process factors in application units
-199.99 % 199.99
C00484/1 0.00 % Application unit 1: Offset
C00485

C00485 | Application units: Display factor Index: 24090d = 5E1Ah

The LS_DisFree_a SB: Display factor for display of the input variables in application unit
-65536.0000 65536.0000
C00485/1 1.0000 Application unit 1: Display factor
C00486

C00486 | Application units: Text Index: 24089d = 5E19h

The LS_DisFree_a SB: Text for the display of the input variables in application unit
C00486/1 Application unit 1: Text
 Read access  Write access  CINH  PLC-STOP  No transfer  COM  MOT Character length: 7
________________________________________________________________
C00487

C00487 - Application units Index: 24088d = 5E18h

SB LS_DisFree_a: Display of the input values in a configurable application unit
-21474836.47 units 21474836.47
Subcodes Info
C00487/1 Application units 1
C00488

C00488 | L_JogCtrlEdgeDetect Index: 24087d = 5E17h

The L_JogCtrlExtension_1 FB: Signal methodology
• Selection whether the corresponding function is to be activated by edge or level.
Selection list
0 Level
1 Edge
C00488/1 0: Level InputSens.SlowDown1
• Selection of edge or level for starting slow-down
function 1
C00488/2 0: Level InputSens.Stop1
• Selection of edge or level for stop function 1
function 2
function 3
________________________________________________________________
C00490

C00490 | Position encoder selection Index: 24085d = 5E15h

Selection of the procedure of generating the actual position
0 No sensor: nSpeedSetValue_a The position signal dnMotorPosAct_p is derived from the
speed setpoint nSpeedSetValue_a.
10 Encoder selection C495 or The position signal dnMotorPosAct_p is either calculated
nVoltageAngleAct_a from the set speed feedback (for C00495 > 0) or from the
speed signal nMotorSpeedAct_v (for C00495 = 0).
C00495

C00495 | Speed sensor selection Index: 24080d = 5E10h
Selection of the feedback system for the actual speed for motor control and display
0 No sensor No sensor available for the actual speed detection
1 Sensor signal FreqIn12 Speed sensor signal is fed via the digital DI1 and DI2
inputs
C00496

C00496 | Encoder evaluation method DigIn12 Index: 24079d = 5E0Fh

1 Low-resolution encoder (StateLine) High-precision procedure for low-resolution encoders
(<=128 increments)
3 Edge-counting procedure Simple edge counting procedure with adjustable
scanning time (C00425)
C00497

C00497 | Filter time constant Index: 24078d = 5E0Eh

0.0 ms 500.0
C00497/1 1.0 ms FreqIn12: Encoder filter time
________________________________________________________________
C00505

C00505 | Password data Index: 24070d = 5E06h

Device access protection
C00505/1 MasterPin
C00505/2 Binding ID
C00505/3 Password
 Read access  Write access  CINH  PLC-STOP  No transfer  COM  MOT Character length: 16
C00506

C00506 | PW protection internal config Index: 24069d = 5E05h

Configuration of the password protection for device-internal parameter access
Individual password protection for single access channels
0x0000 0xFFFF
Bit 0 Only access to user menu The menus in the keypad are reduced. Only the user
menu can be used to change parameters.
Bit 1 Parameter write protection Via system blocks (LS_ParReadWrite1-6 and
LS_WriteParamList), write/read parameters cannot be
written.
Bit 2 Parameter read protection Via system blocks (LS_ParReadWrite1-6 and
LS_WriteParamList), write/read parameters cannot be
read.
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C00506/1 0x0007 PW protection internal config
________________________________________________________________
C00507

C00507 | Current password protection Index: 24068d = 5E04h

Display of the currently active device access protection (password protection and device personalisation)
Note:
As the password protection can be configured individually for each single communication channel from version
15.00.00 bit 1 and bit 2 indicate the active protection always with regard to the communication channel used.
Device access protection
0x0000 0xFFFF
Bit 0 Only access to user menu 1 ≡The menus in the keypad are reduced. Only the user
menu can be used to change parameters.
Bit 1 Parameter write protection 1 ≡ The currently used communication channel cannot
be used to write into write/read parameters.
Bit 2 Parameter read protection 1 ≡ The currently used communication channel cannot
be used to read write/read parameters.
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Memory module binding on 1 ≡ Device personalisation is active. All write/read
actions between controller and memory module are only
executed if both components have the same binding ID.
Subcodes Info
C00507/1 Password protection - all communication channels
________________________________________________________________
C00508

C00508 | PW protection config X6(DIAG) Index: 24067d = 5E03h

Configuration of the password protection for parameter access via diagnostic interface X6 ("DIAG")
Individual password protection for single communication channels
0x0000 0xFFFF
Bit 0 Reserved
Bit 1 Parameter write protection The diagnostics interface X6 cannot be used to write into
Bit 2 Parameter read protection The diagnostics interface X6 cannot be used to read
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C00508/1 0x0006 PW protection config X6(DIAG)
________________________________________________________________
C00509

C00509 | PW protection config X1(CAN) Index: 24066d = 5E02h

Configuration of the password protection for parameter access via CANopen interface X1 ("CAN on board")
0x0000 0xFFFF
Bit 0 Reserved
Bit 1 Parameter write protection The CANopen interface X1 cannot be used to write into
Bit 2 Parameter read protection The CANopen interface X1 cannot be used to read
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C00509/1 0x0006 PW protection config X1 (CAN)
________________________________________________________________
C00510

C00510 | PW protection config MCI Index: 24065d = 5E01h

Configuration of the password protection for parameter access via fieldbus interface ("MCI")
0x0000 0xFFFF
Bit 0 Reserved
Bit 1 Parameter write protection The fieldbus interface (MCI) cannot be used to write into
Bit 2 Parameter read protection The fieldbus interface (MCI) cannot be used to read
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C00510/1 0x0006 PW protection config. MCI
C00516

C00516 | Checksums Index: 24059d = 5DFBh
________________________________________________________________
C00517

C00517 | User menu Index: 24058d = 5DFAh
When a system is installed, parameters must be changed time and again until the system runs satisfactorily. The
user menu of a device serves to create a selection of frequently used parameters to be able to access and change
these parameters quickly.
• Format: <code number>,<subcode number>
• If "0.000" is set, no entry will be displayed in the user menu.
0.000 16000.000
C00517/1 51.000 C00051: Display of actual speed value
C00517/2 53.000 C00053: Display of DC-bus voltage
C00517/3 54.000 C00054: Display of motor current
C00517/4 61.000 C00061: Display of heatsink temperature
C00517/5 137.000 C00137: Display of device status
C00517/6 166.003 C00166/3: Display of current error message
C00517/7 0.000 User menu: Entry 7
C00517/8 11.000 C00011: Reference speed
C00517/9 39.001 C00039/1: Fixed setpoint 1
C00517/10 39.002 C00039/2: Fixed setpoint 2
C00517/11 12.000 C00012: Accel. time - main setpoint
C00517/12 13.000 C00013: Decel. time - main setpoint
C00517/13 15.000 C00015: V/f base frequency
C00517/14 16.000 C00016: Vmin boost
C00517/15 22.000 C00022: Imax in motor mode
C00517/16 120.000 C00120: Setting of motor overload (I2xt)
C00517/17 87.000 C00087: Rated motor speed
C00517/18 99.000 C00099: Display of firmware version
C00517/19 200.000 C00200: Display of firmware product type
C00517/24 105.000 C00105: Decel. time - quick stop
C00517/25 173.000 C00173: Mains voltage
________________________________________________________________
C00560

C00560 | Fan switching status Index: 24015d = 5DCFh

Display of the function status of the device fans
Selection list
0 Off
1 On
2 No fan
Subcodes Info
C00560/1 Switching status - internal fan
C00560/2 Switching status - heatsink fan
C00561

C00561 | Failure indication Index: 24014d = 5DCEh

Failure display of device fans and motor phases
Selection list
0 No error
1 Fault
Subcodes Info
C00561/1 Internal fan
C00561/2 Heatsink fan
C00561/3 Motor phase U
C00561/4 Motor phase V
C00561/5 Motor phase W
C00565

C00565 | Resp. to mains phase failure Index: 24010d = 5DCAh
Response to the failure of mains phases

0 No Reaction
1 Fault
5 Warning
________________________________________________________________
C00566

C00566 | Resp. to fan failure Index: 24009d = 5DC9h
Response to the detection of a fan failure

0 No Reaction
1 Fault
5 Warning
C00567

C00567 | Resp. to speed controller limited Index: 24008d = 5DC8h
Response if speed controller output is limited (bLimSpeedCtrlOut = TRUE)

0 No Reaction
1 Fault
5 Warning
C00569

C00569 | Resp. to peak current Index: 24006d = 5DC6h
Configuration of monitoring of the motor control (group 1)

Selection list
0 No Reaction
1 Fault
5 Warning
C00569/1 0: No Reaction Response for overcurrent detection and clamp operation
________________________________________________________________
C00570

C00570 | Resp. to controller limitations Index: 24005d = 5DC5h

Selection list
0 No Reaction
1 Fault
5 Warning
C00570/1 0: No Reaction Response if direct-axis current controller is limited
C00570/2 0: No Reaction Response if cross current controller is limited
C00570/3 0: No Reaction Response if torque setpoint is limited
• Limitation of the speed controller output, the
differential setpoint control and the additive torque
with sensorless vector control (SLVC).
C00570/4 0: No Reaction Response if field controller is limited
C00571

C00571 | Resp. to wrong controller setting Index: 24004d = 5DC4h

Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00571/1 6: Information Resp. to: Motor control does not match motor data
C00571/2 1: Fault Resp. to a non-set speed controller
C00572

C00572 | Brake resistor overload threshold Index: 24003d = 5DC3h

Adjustable threshold for monitoring the brake resistor utilisation
0 % 100 100 %
________________________________________________________________
C00574

C00574 | Resp. to brake resist. overtemp. Index: 24001d = 5DC1h
Response which is triggered if the threshold set in C00572 for monitoring brake resistor utilisation is reached.
0 No Reaction
1 Fault
5 Warning
C00579

C00579 | Resp. to max. speed/output freq. reached Index: 23996d = 5DBCh
Response when the max. speed limit (C00909) or output frequency limit (C00910) has been reached.
0 No Reaction
1 Fault
5 Warning
C00580

C00580 | Resp. to operating system error Index: 23995d = 5DBBh

Response if the required computing time of the application exceeds the available computing time.
Selection list
0 No Reaction
1 Fault
5 Warning
C00580/1 0: No Reaction Resp. to runtime exceedance
________________________________________________________________
C00581

C00581 | Resp. to LS_SetError_x Index: 23994d = 5DBAh
Selection of the error responses for application error messages

• An application error message is tripped by a FALSE/TRUE edge at the binary inputs bSetError1...4.
Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00581/1 0: No Reaction LS_SetError_1: Resp. to bSetError1
C00582

C00582 | Resp. to heatsink temp. > shutdown temp. -5°C Index: 23993d = 5DB9h
Response if the heatsink temperature has reached the switch-off temperature threshold.
0 No Reaction
1 Fault
5 Warning
C00585

C00585 | Resp. to motor overtemp. PTC Index: 23990d = 5DB6h
Response to motor overtemperature

• The motor temperature is measured by means of a PTC thermistor at terminal X106.
0 No Reaction
1 Fault
5 Warning
________________________________________________________________
C00586

C00586 | Resp. to open circuit HTL encoder Index: 23989d = 5DB5h
Response to encoder feedback system failure or encoder feedback system track failure due to open circuit
0 No Reaction
1 Fault
5 Warning
C00588

C00588 | Resp. to max. speed at switching freq. Index: 23987d = 5DB3h
Response if the maximum speed for the set inverter switching frequency is reached (C00018)
0 No Reaction
1 Fault
5 Warning
C00590

C00590 | Resp. to switching frequency red. Index: 23985d = 5DB1h
Response to reduction of the inverter switching frequency (C00018)

0 No Reaction
1 Fault
5 Warning
________________________________________________________________
C00592

C00592 | Resp. to CAN bus connection Index: 23983d = 5DAFh
Configuration of monitoring of the CAN interface (group 1)

Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00592/1 0: No Reaction Response to incorrect telegram for CAN communication
C00592/2 0: No Reaction Response to "BusOff" (bus system switched off)
C00592/3 0: No Reaction Response to warnings of the CAN controller
C00592/4 0: No Reaction Response to communication stop of a CAN bus node
C00592/5 0: No Reaction Response to an event in the case of monitoring via
heartbeat protocol
C00593

C00593 | Resp. to CANx_IN monitoring Index: 23982d = 5DAEh
Configuration of monitoring of the CAN interface (group 2)

Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00593/1 0: No Reaction Response if the monitoring time set in C00357/1 for the
reception of the PDO CAN1_IN is exceeded.
________________________________________________________________
C00594

C00594 | Resp. to control word error Index: 23981d = 5DADh
Configuration of device control monitoring

Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
5 Warning
C00594/1 1: Fault Response if error bit 14 in the CAN control word is set.
C00594/2 1: Fault Response if error bit 14 in the MCI control word is set.
C00595

C00595 | MCK: Resp. to MCK error Index: 23980d = 5DACh
Configuration of monitoring of the Motion Control Kernel

Basic drive functions
Selection list
0 No Reaction
1 Fault
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00595/1 0: No Reaction Reserved
C00595/15 1: Fault Response to activated connection monitoring in case of
PC manual control
________________________________________________________________
C00597

C00597 | Resp. to motor phase failure Index: 23978d = 5DAAh
Response to motor phase failure

• If a phase current does not exceed the threshold set in C00599 for more than one period, the response set here
will be triggered.
0 No Reaction
1 Fault
5 Warning
C00598

C00598 | Resp. to open circuit AINx Index: 23977d = 5DA9h
Configuration of monitoring the analog input

Analog terminals
Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
5 Warning
C00598/1 3: TroubleQuickStop Response to open circuit at AIN1 if configured as
4 ... 20 mA current loop
C00599

C00599 | Motor phase failure threshold Index: 23976d = 5DA8h
Threshold for motor phase failure monitoring

• 100 % ≡ rated inverter current (C00098)
• If a phase current does not exceed the threshold set here for more than one period, the response to motor phase
failure set in C00597 will be triggered.
0.00 % 100.00 5.00 %
________________________________________________________________
C00600

C00600 | Resp. to DC bus voltage Index: 23975d = 5DA7h

Selection list
1 Fault
2 Trouble
C00600/1 2: Trouble Response to DC bus undervoltage
C00601

C00601 | Del. resp. to fault: DC bus overvoltage Index: 23974d = 5DA6h
Error response delay times

0.000 s 65.000
C00601/1 2.000 s Delay time for triggering the "DC-bus overvoltage" error
• If a DC-bus overvoltage occurs, an error will not be
triggered until the set delay time has elapsed.
C00602

C00602 | Resp. to earth fault Index: 23973d = 5DA5h
Response to earth fault in the motor phase(s)

0 No Reaction
1 Fault
C00604

C00604 | Resp. to device overload (Ixt) Index: 23971d = 5DA3h
Response if the adjustable device utilisation threshold (C00123) is reached.

• The current device utilisation is displayed in C00064.
0 No Reaction
1 Fault
5 Warning
________________________________________________________________
C00606

C00606 | Resp. to motor overload (I²xt) Index: 23969d = 5DA1h
Response when the motor load displayed in C00066 reaches the value "100.00 %".
0 No Reaction
1 Fault
5 Warning
C00607

C00607 | Resp. to max freq. feedb. DIG12/67 Index: 23968d = 5DA0h
Response when the maximum input frequency has been reached via the digital inputs.
0 No Reaction
1 Fault
5 Warning
C00608

C00608 | Resp. to maximum torque Index: 23967d = 5D9Fh
Response if the maximum torque (C00057) is reached.

0 No Reaction
1 Fault
5 Warning
C00609

C00609 | Resp. to maximum current Index: 23966d = 5D9Eh
Response if the maximum current (C00022, C00023) is reached.

0 No Reaction
1 Fault
5 Warning
C00610

C00610 | 16-bit connection table Index: 23965d = 5D9Dh
________________________________________________________________
C00611

C00611 | Bool connection table Index: 23964d = 5D9Ch
C00612

C00612 | 32-bit connection table Index: 23963d = 5D9Bh
C00620

C00620 | System connection list: 16-bit Index: 23955d = 5D93h
Connection parameters: 16-bit inputs

• Selection of the 16 bit output signals to be connected to the 16 bit input signals
• The selection list contains all 16 bit output signals which can be assigned to the 16 bit inputs displayed by the
subcodes.
• Non-listed subcodes are "reserved".
Selection list
C00620/1 1003: LA_NCtrl: nMotorSpeedAct_a LS_AnalogOutput: nOut1_a
Analog output 1: Voltage
C00620/2 0: Not connected LP_CanOut1: wState
CAN1 output: Status word
C00620/3 0: Not connected LP_CanOut1: wOut2
CAN1 output: Data word 2
C00620/14 0: Not connected LS_DisFree_a: nDis1_a
Display of analog signal 1
________________________________________________________________


C00620/18 0: Not connected LS_DisFree: wDis1
Display of 16-bit signal 1
C00620/22 0: Not connected LP_MciOut: wState
MCI output: Status word
C00620/23 0: Not connected LP_MciOut: wOut2
MCI output: Data word 2
C00620/49 0: Not connected LS_ParReadWrite_1: wParIndex
Read/write request 1: Code
C00620/50 0: Not connected LS_ParReadWrite_1: wParSubindex
Read/write request 1: Subcode
C00620/51 0: Not connected LS_ParReadWrite_1: wInHWord
Read/write request 1: Value (high word)
________________________________________________________________

C00620/52 0: Not connected LS_ParReadWrite_1: wInLWord

Read/write request 1: Value (low word)
C00621

C00621 | System connection list: Bool Index: 23954d = 5D92h
Connection parameters: Binary inputs

• Selection of the binary output signals to be connected to the binary input signals
• The selection list contains all binary output signals which can be assigned to the binary inputs mapped by the
subcodes.
Selection list
C00621/1 1001: LA_NCtrl: bDriveFail LS_DigitalOutput: bRelay
Digital relay output: Input signal
C00621/2 1000: LA_NCtrl: bDriveReady LS_DigitalOutput: bOut1
Digital output 1: Input signal
C00621/3 0: Not connected LS_DigitalInput: bCountIn1_Reset
Digital input 1: Reset counter
C00621/4 0: Not connected LS_DigitalInput: bCountIn1_LoadStartValue
Digital input 1: Load counter starting value
C00621/5 0: Not connected LP_CanOut1: bState_B0
CAN1 output: Status word - bit 0
________________________________________________________________


C00621/21 0: Not connected LS_DisFree_b: bDis1
Display of digital signal 1
C00621/29 0: Not connected LP_CanOut2: bOut1_B0
CAN2 output: Data word 1- bit 0
________________________________________________________________


________________________________________________________________


C00621/61 0: Not connected LP_MciOut: bState_B0
MCI output: Status word - bit 0
C00621/77 0: Not connected LP_MciOut: bOut2_B0
MCI output: Data word 2 - bit 0
________________________________________________________________


C00621/93 0: Not connected LS_SetError_1: bSetError1
Input for tripping "US01: User error 1"
C00621/111 0: Not connected LS_ParReadWrite_1: bExecute
Read/write request 1: Trigger
C00621/112 0: Not connected LS_ParReadWrite_1: bReadWrite
Read/write request 1: Selection of reading/writing
C00621/123 0: Not connected LS_WriteParamList: bExecute
Writing the parameter list: Activate
C00621/124 0: Not connected LS_WriteParamList: bSelectWriteValue_1
Writing to parameter list: Selection of value set - 1
C00621/125 0: Not connected LS_WriteParamList: bSelectWriteValue_2
Writing to parameter list: Selection of value set - 2
________________________________________________________________

C00621/126 0: Not connected LS_CANManagement: bResetNode

Reset CAN node
C00621/127 0: Not connected LS_CANManagement: bReInitCAN
Reinitialise CAN interface
C00621/128 0: Not connected LS_DigitalInput: bPosIn12_Load
Frequency input DI1/DI2: Load angle integrator with
starting value and reset status signal
________________________________________________________________
C00622

C00622 | System connection list: Angle Index: 23953d = 5D91h
Connection parameters: 32-bit inputs

• Selection of the 32-bit output signals for connection with the 32-bit input signals.
• The selection list contains all 32-bit output signals which can be assigned to the 32-bit inputs mapped by the
subcodes.
Selection list
See selection list - angle signals
C00622/9 0: Not connected LP_CanOut1: dnOut34_p
CAN1 output: Data words 3 + 4
C00622/12 0: Not connected LP_MciOut: dnOut34_p
MCI output: Data words 3 + 4
C00622/13 0: Not connected LS_DigitalInput: dnPosIn12_Set_p
Frequency input DI1/DI2: Starting value for angle
integrator
C00632

C00632 | L_NSet_1: Max.SkipFrq. Index: 23943d = 5D87h
Maximum limit values for the speed blocking zones

• Selection of the maximum limit values for the blocking zones in which the speed must not be constant.
0.00 % 199.99
C00632/1 0.00 % L_NSet_1: Blocking speed1 max
________________________________________________________________
C00633

C00633 | L_NSet_1: Min.SkipFrq. Index: 23942d = 5D86h
Minimum limit values for the speed blocking zones

• Selection of the minimum limit values for the blocking zones in which the speed must not be constant.
0.00 % 199.99
C00633/1 0.00 % L_NSet_1: Blocking speed1 min
C00634

C00634 | L_NSet_1: wState Index: 23941d = 5D85h
The L_NSet_1 FB: Bit coded status display

0x0000 0xFFFF
Bit 0 No blocking zone active 1 ≡ No blocking zone set for constant speeds
Bit 1 Blocking zone 1 active 1 ≡ Suppression of constant speed characteristics within
the limits of blocking zone 1
Bit 4 Jog in blocking zone 1 ≡ A ramp is used to keep the speed setpoint within a
speed blocking zone
Bit 5 MaxLimit active 1 ≡ Speed setpoint is at the maximum speed limit
Bit 6 MinLimit active 1 ≡ Speed setpoint is at the minimum speed limit
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
________________________________________________________________
C00635

C00635 | L_NSet_1: nMaxLimit Index: 23940d = 5D84h
The L_NSet_1 FB: Maximum speed setpoint for speed setpoint limitation
-199.99 % 199.99 199.99 %
C00636

C00636 | L_NSet_1: nMinLimit Index: 23939d = 5D83h
The L_NSet_1 FB: Minimum speed setpoint for speed setpoint limitation
-199.99 % 199.99 -199.99 %
C00637

C00637 | L_NSet_1: Output blocking zones Index: 23938d = 5D82h
The L_NSet_1 FB: Speed setpoint is displayed after being processed by blocking zone function
-199.99 % 199.99
C00638

C00638 | L_NSet_1: Output ramp rounding Index: 23937d = 5D81h
The L_NSet_1 FB: Speed setpoint is displayed after being processed by PT1 filter function
-199.99 % 199.99
C00639

C00639 | L_NSet_1: Output additional value Index: 23936d = 5D80h
The L_NSet_1 FB: Additional speed setpoint is displayed after being processed by the ramp generator
-199.99 % 199.99
________________________________________________________________
C00640

C00640 | L_NSet_1: nNOut_a Index: 23935d = 5D7Fh
The L_NSet_1 FB: Display of the generated main speed setpoint at the output nNOut_a
-199.99 % 199.99
C00643

C00643 | Resp. to PLI monitoring Index: 23932d = 5D7Ch

Pole position identification without motion
Selection list
0 No Reaction
1 Fault
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C00643/1 1: Fault Response to PLI monitoring
C00653

C00653 | Sensibility - Setpoint feedforward control Index: 23922d = 5D72h

Selection of the sensitivity of the differential setpoint feedforward control
• Depending on the selection, the number of indicated higher-order bits is evaluated.
Note:
The most significant bit determines the sign of the value, the remaining bits determine the numerical value.
Selection list Info
0 Inactive
1 15 bits Bit 0 ... bit 14 are evaluated
5 11 Bit Bit 0 ... bit 10 are evaluated
C00653/1 0: Inactive Sensibility - Setpoint feedforward control
________________________________________________________________
C00654

C00654 | Source of diff. setpoint feedforward control Index: 23921d = 5D71h
Selection list Info

0 nSpeedSetValue_a
1 nSpeedSetValueInertia_a
C00654/1 0: nSpeedSetValue_a Source of diff. setpoint feedforward control
C00670

C00670 | L_OffsetGainP_1: Gain Index: 23905d = 5D61h
The L_OffsetGainP_1 FB: Gain as multiplier of the input signal + offset

-100.0000 100.0000 1.0000
C00671

C00671 | L_OffsetGainP_2: Gain Index: 23904d = 5D60h

-100.0000 100.0000 1.0000
C00672

C00672 | L_OffsetGainP_3: Gain Index: 23903d = 5D5Fh

-100.0000 100.0000 1.0000
________________________________________________________________
C00680

C00680 | L_Compare_1: Fct. Index: 23895d = 5D57h
The L_Compare_1 FB: Comparison operation

• If the statement of the selected comparison operation is true, the binary bOut output will be set to TRUE.
1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
C00681

C00681 | L_Compare_1: Hysteresis Index: 23894d = 5D56h
The L_Compare_1 FB: Hysteresis for the comparison function selected in C00680
0.00 % 100.00 0.50 %
C00682

C00682 | L_Compare_1: Window Index: 23893d = 5D55h
The L_Compare_1 FB: Window for the comparison function selected in C00680
0.00 % 100.00 2.00 %
C00685

C00685 | L_Compare_2: Fct. Index: 23890d = 5D52h

1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
________________________________________________________________
C00686

C00686 | L_Compare_2: Hysteresis Index: 23889d = 5D51h
The L_Compare_2 FB: Hysteresis for the comparison function selected in C00685
0.00 % 100.00 0.50 %
C00687

C00687 | L_Compare_2: Window Index: 23888d = 5D50h
The L_Compare_2 FB: Window for the comparison function selected in C00685
0.00 % 100.00 2.00 %
C00690

C00690 | L_Compare_3: Function Index: 23885d = 5D4Dh

1 In1 = In2
2 In1 > In2
3 In1 < In2
4 |In1| = |In2|
5 |In1| > |In2|
6 |In1| < |In2|
C00691

C00691 | L_Compare_3: Hysteresis Index: 23884d = 5D4Ch

FB L_Compare_3: Hysteresis for the comparison operation selected in C00690
0.00 % 100.00 0.00 %
________________________________________________________________
C00692

C00692 | L_Compare_3: Window Index: 23883d = 5D4Bh

FB L_Compare_3: window for the comparison operation selected in C00690
0.00 % 100.00 0.00 %
C00696

C00696 | L_OffsetGainP_1: Offset Index: 23879d = 5D47h
The L_OffsetGainP_1 FB: Offset (additive to the input signal)

-199.99 % 199.99 0.00 %
C00697


-199.99 % 199.99 0.00 %
C00698


-199.99 % 199.99 0.00 %
C00699

C00699 | L_MulDiv_1: Parameter Index: 23876d = 5D44h
The L_MulDiv_1 FB: Numerator and denominator

-32767 32767
C00699/1 0 L_MulDiv_1: Numerator
C00699/2 10000 L_MulDiv_1: Denominator
________________________________________________________________
C00700

C00700 | LA_NCtrl: Analog connection list Index: 23875d = 5D43h
Connection parameters for "Actuating drive speed" application: 16-bit inputs

subcodes.
Selection list
C00700/1 20005: LS_ParFix: wDriveCtrl LA_NCtrl: wCANDriveControl
Input for control word from CAN to device control
C00700/2 20005: LS_ParFix: wDriveCtrl LA_NCtrl: wMCIDriveControl
Input for control word from communication interface to
device control
C00700/3 20012: LS_ParFree_a: nC472_3_a LA_NCtrl: nTorqueMotLim_a
Input for maximum torque in motor mode
C00700/4 20013: LS_ParFree_a: nC472_4_a LA_NCtrl: nTorqueGenLim_a
Input for maximum torque in generator mode
C00700/5 0: Not connected LA_NCtrl: nPIDVpAdapt_a
Input for adapting the PID controller gain
C00700/6 0: Not connected LA_NCtrl: nPIDActValue_a
Input for actual PID controller value
C00700/7 16000: LS_AnalogInput: nIn1_a LA_NCtrl: nMainSetValue_a
Input for main speed setpoint
C00700/8 0: Not connected LA_NCtrl: nAuxSetValue_a
Input for additional speed setpoint
C00700/9 0: Not connected LA_NCtrl: nGPAnalogSwitchIn1_a
Input for analog switch - analog signal 1
C00700/10 0: Not connected LA_NCtrl: nGPAnalogSwitchIn2_a
C00700/11 0: Not connected LA_NCtrl: nGPArithmetikIn1_a
Input for arithmetic function - analog signal 1
C00700/12 0: Not connected LA_NCtrl: nGPArithmetikIn2_a
C00700/13 0: Not connected LA_NCtrl: nGPMulDivIn_a
Input for analog signal for multiplication/division
C00700/14 0: Not connected LA_NCtrl: nGPCompareIn1_a
Input for comparison operation - analog signal 1
C00700/15 0: Not connected LA_NCtrl: nGPCompareIn2_a
C00700/16 0: Not connected LA_NCtrl: nVoltageAdd_a
Input for additive voltage boost
C00700/17 0: Not connected LA_NCtrl: nPIDInfluence_a
Input for influence signal of PID controller correcting
variable
C00700/18 0: Not connected LA_NCtrl: nPIDSetValue_a
Input for PID controller setpoint
C00700/19 0: Not connected LA_NCtrl: nPWMAngleOffset
Input for pulse width modulation phase offset
C00700/20 0: Not connected LA_NCtrl: nBoost_a
Input for additional setpoint for motor voltage at speed
=0
________________________________________________________________

C00700 | LA_NCtrl: Analog connection list Index: 23875d = 5D43h
C00700/21 0: Not connected LA_NCtrl: wSMCtrl

Interface to the optional safety system
C00700/22 0: Not connected Reserved
C00700/26 0: Not connected LA_NCtrl: wFreeIn1
Input for user signal 1
C00701

C00701 | LA_NCtrl: Digital connection list Index: 23874d = 5D42h
Connection parameters for "Actuating drive speed" application: Binary inputs

subcodes.
Selection list
C00701/1 0: Not connected LA_NCtrl: bCInh
Control input for setting controller inhibit
C00701/2 16008: LS_DigitalInput: bCInh LA_NCtrl: bFailReset
Control input for error acknowledgement
C00701/3 0: Not connected LA_NCtrl: bSetQuickstop
Control input for quick stop request
C00701/4 16002: LS_DigitalInput: bIn3 LA_NCtrl: bSetDCBrake
Control input for DC-injection braking request
C00701/5 0: Not connected LA_NCtrl: bRFG_Stop
Control input for stopping the speed ramp function
generator
C00701/6 0: Not connected LA_NCtrl: bRFG_0
Control input for setting the speed ramp function
generator to 0
C00701/8 16003: LS_DigitalInput: bIn4 LA_NCtrl: bSetSpeedCcw
Control input for change of direction of rotation
C00701/9 16000: LS_DigitalInput: bIn1 LA_NCtrl: bJogSpeed1
Selection input for fixed setpoints
C00701/10 16001: LS_DigitalInput: bIn2 LA_NCtrl: bJogSpeed2
C00701/11 0: Not connected LA_NCtrl: bJogSpeed4
________________________________________________________________

C00701/12 0: Not connected LA_NCtrl: bJogSpeed8

C00701/13 0: Not connected LA_NCtrl: bJogRamp1
Selection input for additional acceleration/deceleration
times
times
times
times
C00701/17 0: Not connected LA_NCtrl: bMPOTInAct
Control input for deactivation of motor potentiometer
C00701/18 0: Not connected LA_NCtrl: bMPOTUp
Control input for motor potentiometer ramp-up
C00701/19 0: Not connected LA_NCtrl: bMPOTDown
Control input for motor potentiometer ramp-down
C00701/20 0: Not connected LA_NCtrl: bMBRKRelease
Control input for manual holding brake release request
C00701/21 0: Not connected LA_NCtrl: bGPFree1
Input for binary user signal
C00701/22 0: Not connected LA_NCtrl: bGPFree2
Input for binary user signal
C00701/23 0: Not connected LA_NCtrl: bGPAnalogSwitchSet
Control input for analog-value selector change-over
C00701/24 0: Not connected LA_NCtrl: bGPDigitalDelayIn
Input for digital signal with time delay
C00701/25 0: Not connected LA_NCtrl: bGPLogicIn1
Input signal 1 for digital logic
C00701/28 0: Not connected LA_NCtrl: bGPDFlipFlopInD
Control input for DFlipFlop setting signal
C00701/29 0: Not connected LA_NCtrl: bGPDFlipFlopInClk
Control input for DFlipFlop clock signal
C00701/30 0: Not connected LA_NCtrl: bGPDFlipFlopInClr
Control input for DFlipFlop reset signal
C00701/31 0: Not connected LA_NCtrl: bMPotEnable
Control input for activation of motor potentiometer
C00701/32 0: Not connected LA_NCtrl: bPIDEnableInfluenceRamp
Control input for activation of influence of output
correcting variable of PID controller
C00701/33 0: Not connected LA_NCtrl: bPIDIOff
Control input for deactivation of PID controller I
component
C00701/34 20000: LS_ParFix: bTrue LA_NCtrl: bRLQCw
Control input for activation of CW direction of rotation of
speed setpoint
________________________________________________________________

C00701/35 0: Not connected LA_NCtrl: bRLQCcw

Control input for activation of CCW direction of rotation
of speed setpoint
C00701/41 0: Not connected LA_NCtrl: bFreeIn1
Input for binary user signal 1
C00705

C00705 | LA_NCtrl_Out: Analog signal list Index: 23870d = 5D3Eh
C00706

C00706 | LA_NCtrl_Out digital signal list Index: 23869d = 5D3Dh
C00720

C00720 | L_DigitalDelay_1: Delay Index: 23855d = 5D2Fh
Switch-on/off delay time

0.000 s 3600.000
C00720/1 0.000 s L_DigitalDelay_1: ON delay
C00720/2 0.000 s L_DigitalDelay_1: OFF delay
________________________________________________________________
C00725

C00725 | Current switching frequency Index: 23850d = 5D2Ah
Display of the current switching frequency

• In C00018 you can choose between a drive-optimised setting for good smooth-running characteristics and an
inverter loss-optimised setting (min. Pv).
• Both possibilities offer fixed and variable switching frequencies.
• When a variable switching frequency is selected in C00018, the switching frequency may change as a function
of the load and rotational frequency.
14 Reserved
C00726

C00726 | Current limit values Index: 23849d = 5D29h
________________________________________________________________
C00727

C00727 | LS_Keypad digital values Index: 23848d = 5D28h
Execution of control commands for keypad operation

0 1
C00727/1 0 1 ≡ request quick stop
C00727/2 0 1 ≡ request DC-injection braking
C00727/3 0 1 ≡ request change of direction of rotation
C00727/4 0 1 ≡ request fixed speed setpoint 1
C00727/5 0 1 ≡ request fixed speed setpoint 2
C00727/6 0 1 ≡ motor potentiometer: request activation
C00727/7 0 1 ≡ motor potentiometer: request pos. acceleration
C00727/8 0 1 ≡ motor potentiometer: request neg. acceleration
C00728

C00728 | Keypad analog values Index: 23847d = 5D27h
Selection of different setpoints when operating via keypad

-199.99 % 199.99
C00728/1 100.00 % Torque limit in motor mode
C00728/2 100.00 % Torque limit in generator mode
C00728/3 0.00 % Setpoint speed
C00729

C00729 | Remote: Setpoint selection Index: 23846d = 5D26h

-199.99 199.99
C00729/1 0.00 Remote: Setpoint keypad
C00729/2 0.00 Remote: Setpoint PC
C00730

C00730 | Oscilloscope scanning interval Index: 23845d = 5D25h
________________________________________________________________
C00731

C00731 | Oscilloscope recording length Index: 23844d = 5D24h
C00732

C00732 | Oscilloscope command Index: 23843d = 5D23h
C00734

C00734 | Oscilloscope trigger channel selection Index: 23841d = 5D21h
C00735

C00735 | Oscilloscope channel source type Index: 23840d = 5D20h
C00736

C00736 | Oscilloscope data type/data width Index: 23839d = 5D1Fh
C00740

C00740 | Oscilloscope offset variables Index: 23835d = 5D1Bh
C00741

C00741 | Oscilloscope trigger mode Index: 23834d = 5D1Ah
C00742

C00742 | Oscilloscope trigger delay Index: 23833d = 5D19h
C00743

C00743 | Oscilloscope trigger level Index: 23832d = 5D18h
________________________________________________________________
C00744

C00744 | Oscilloscope trigger mask Index: 23831d = 5D17h
C00746

C00746 | Oscilloscope trigger counter Index: 23829d = 5D15h
C00747

C00747 | Oscilloscope status word Index: 23828d = 5D14h
C00748

C00748 | Oscilloscope no. of measured values Index: 23827d = 5D13h
C00749

C00749 | Oscilloscope recording Index: 23826d = 5D12h
C00750

C00750 | Select. of MCTRL oscillos. channels Index: 23825d = 5D11h
C00751

C00751 | Oscilloscope data memory Index: 23824d = 5D10h
C00753

C00753 | Oscilloscope data memory octet string Index: 23822d = 5D0Eh
________________________________________________________________
C00760

C00760 | LA_SwitchPos: Analog connection list Index: 23815d = 5D07h
Connection parameters for "Switch-off positioning" application: 16-bi inputs

subcodes.
Selection list
C00760/1 0: Not connected LA_SwitchPos: wCANDriveControl
Input for control word from CAN to device control
C00760/2 0: Not connected LA_SwitchPos: wMCIDriveControl
Input for control word from communication interface to
device control
C00760/3 0: Not connected LA_SwitchPos: nVoltageAdd_a
Input for additive voltage impression
C00760/4 0: Not connected LA_SwitchPos: nBoost_a
Input for additional setpoint for motor voltage at speed
=0
C00760/5 0: Not connected LA_SwitchPos: nPWMAngleOffset
Input for additional offset for the electrical angle of
rotation
C00760/6 0: Not connected LA_SwitchPos: nTorqueMotLim_a
Input for maximum torque in motor mode
C00760/7 0: Not connected LA_SwitchPos: nTorqueGenLim_a
Input for maximum torque in generator mode
C00760/8 0: Not connected LA_SwitchPos: nMainSetValue_a
Input for main speed setpoint
C00760/9 0: Not connected LA_SwitchPos: nAuxSetValue_a
Input for additional speed setpoint
C00760/10 0: Not connected LA_SwitchPos: nGPAnalogSwitchIn1_a
C00760/11 0: Not connected LA_SwitchPos: nGPAnalogSwitchIn2_a
C00760/12 0: Not connected LA_SwitchPos: nGPArithmetikIn1_a
C00760/13 0: Not connected LA_SwitchPos: nGPArithmetikIn2_a
C00760/14 0: Not connected LA_SwitchPos: nGPMulDivIn_a
Input for analog signal for multiplication/division
C00760/15 0: Not connected LA_SwitchPos: nGPCompareIn1_a
C00760/16 0: Not connected LA_SwitchPos: nGPCompareIn2_a
C00760/17 0: Not connected LA_SwitchPos: wSMCtrl
Interface to the optional safety system
________________________________________________________________

C00760 | LA_SwitchPos: Analog connection list Index: 23815d = 5D07h
C00760/22 0: Not connected LA_SwitchPos: wFreeIn1

C00761

C00761 | LA_SwitchPos: Digital connection list Index: 23814d = 5D06h
Connection parameters for "Switch-off positioning" application: Binary inputs

subcodes.
Selection list
C00761/1 0: Not connected LA_SwitchPos: bCInh
Control input for setting controller inhibit
C00761/2 0: Not connected LA_SwitchPos: bFailReset
Control input for error acknowledgement
C00761/3 0: Not connected LA_SwitchPos: bSetQuickstop
Control input for quick stop request
C00761/4 0: Not connected LA_SwitchPos: bSetDCBrake
Control input for DC-injection braking request
C00761/5 0: Not connected LA_SwitchPos: bRFG_Stop
Control input for stopping the speed ramp function
generator
C00761/6 0: Not connected LA_SwitchPos: bSetSpeedCcw
Control input for change of direction of rotation
C00761/7 0: Not connected LA_SwitchPos: bRLQCw
Control input for activation of CW rotation (fail-safe)
C00761/8 0: Not connected LA_SwitchPos: bRLQCcw
Control input for activation of CCW rotation (fail-safe)
C00761/9 0: Not connected LA_SwitchPos: bJogCtrlInputSel1
Selection input 1 for binary coded selection of the
switch-off position 1 ... 3
C00761/10 0: Not connected LA_SwitchPos: bJogCtrlInputSel2
Selection input 2 for binary coded selection of the
switch-off position 1 ... 3
C00761/11 0: Not connected LA_SwitchPos: bJogCtrlRfgIn
Control input for setpoint generator ramp-down
C00761/12 0: Not connected LA_SwitchPos: bJogCtrlJog1
Selection input 1 for overriding fixed setpoints (JOG
setpoints) for the main setpoint
C00761/13 0: Not connected LA_SwitchPos: bJogCtrlJog2
Selection input 2 for overriding fixed setpoints (JOG
setpoints) for the main setpoint
________________________________________________________________

C00761/14 0: Not connected LA_SwitchPos: bJogCtrlSlowDown1

Control input for selection of pre-switch off 1
C00761/15 0: Not connected LA_SwitchPos: bJogCtrlStop1
Control input for stop function 1
C00761/20 0: Not connected LA_SwitchPos: bJogSpeed4
C00761/21 0: Not connected LA_SwitchPos: bJogSpeed8
C00761/22 0: Not connected LA_SwitchPos: bJogRamp1
times
times
times
times
C00761/26 0: Not connected LA_SwitchPos: bMBrkRelease
Control input for manual holding brake release request
C00761/27 0: Not connected LA_SwitchPos: bGPAnalogSwitchSet
Control input for analog-value selector change-over
C00761/28 0: Not connected LA_SwitchPos: bGPDigitalDelayIn
Input for digital signal with time delay
C00761/29 0: Not connected LA_SwitchPos: bGPLogicIn1
C00761/32 0: Not connected LA_SwitchPos: bGPDFlipFlop_InD
Control input for DFlipFlop setting signal
C00761/33 0: Not connected LA_SwitchPos: bGPDFlipFlop_InClk
Control input for DFlipFlop clock signal
C00761/34 0: Not connected LA_SwitchPos: bGPDFlipFlop_InClr
Control input for DFlipFlop reset signal
________________________________________________________________

C00761/40 0: Not connected LA_SwitchPos: bFreeIn1

C00762

C00762 | LA_SwitchPos: phi connection list Index: 23813d = 5D05h
C00765

C00765 | LA_SwitchPos_Out: Analog signal list Index: 23810d = 5D02h
C00766

C00766 | LA_SwitchPos_Out: Digital signal list Index: 23809d = 5D01h
C00767

C00767 | LA_SwitchPos_Out: phi signal list Index: 23808d = 5D00h
C00800

C00800 | L_MPot_1: Upper limit Index: 23775d = 5CDFh
The L_MPot_1 FB: Upper limit of the motor potentiometer function

-199.99 % 199.99 100.00 %
________________________________________________________________
C00801

C00801 | L_MPot_1: Lower limit Index: 23774d = 5CDEh
The L_MPot_1 FB: Lower limit of the motor potentiometer function

-199.99 % 199.99 -100.00 %
C00802

C00802 | L_MPot_1: Acceleration time Index: 23773d = 5CDDh
The L_MPot_1 FB: Acceleration time of the motor potentiometer function

0.1 s 6000.0 10.0 s
C00803

C00803 | L_MPot_1: Deceleration time Index: 23772d = 5CDCh
The L_MPot_1 FB: Deceleration time of the motor potentiometer function

0.1 s 6000.0 10.0 s
C00804

C00804 | L_MPot_1: Inactive fct. Index: 23771d = 5CDBh
The L_MPot_1 FB: Selection of the response if the motor potentiometer is deactivated via input bInAct
0 Retain value Keep output value
1 Deceleration to 0 Deceleration via ramp to 0
2 Deceleration to lower limit Deceleration via ramp to the lower limit (C00801)
3 Without ramp to 0 Step change to 0
4 Without ramp to lower limit Jump to lower limit (C00800)
5 Acceleration to upper limit Acceleration via ramp to upper limit (C00800)
C00805

C00805 | L_MPot_1: Init fct. Index: 23770d = 5CDAh
The L_MPot_1 FB: Selection of the response at device switch-on

0 Load last value
1 Load lower limit
2 Load 0
________________________________________________________________
C00806

C00806 | L_MPot_1: Use Index: 23769d = 5CD9h
The L_MPot_1 FB: Use of the motor potentiometer

0 No The motor potentiometer is not used.
• The analog value applied to the nIn_a input is looped
through without any changes to the nOut_a output.
1 Yes The motor potentiometer is used.
• The analog value applied at the nIn_a input is led via
the motor potentiometer and provided at the nOut_a
output.
C00820

C00820 | L_DigitalLogic_1: Function Index: 23755d = 5CCBh
The L_DigitalLogic_1 FB: Selection of the internal logic function

0 bOut = 0 Constant value "FALSE"
1 bOut = 1 Constant value "TRUE"
2 bOut = bIn1 AND bIn2 AND bIn3 AND operation
3 bOut = bIn1 OR bIn2 OR bIn3 OR operation
4 bOut = f (truth table) The truth table parameterised in C00821 is used.
C00821

C00821 | L_DigitalLogic_1: Truth table Index: 23754d = 5CCAh
The L_DigitalLogic_1 FB: Parameterisation of the truth table

Selection list
0 False
1 True
C00821/1 0: FALSE L_DigitalLogic_1: bIn3...bIn1=0 0 0
________________________________________________________________
C00828

C00828 | L_DigitalLogic_3: Function Index: 23747d = 5CC3h

The L_DigitalLogic_3 FB: Selection of the internal logic function
0 bOut = 0 Constant value "FALSE"
1 bOut = 1 Constant value "TRUE"
2 bOut = bIn1 AND bIn2 AND bIn3 AND operation
3 bOut = bIn1 OR bIn2 OR bIn3 OR operation
4 bOut = f (truth table) The truth table parameterised in C00829 is used.
C00829

C00829 | L_DigitalLogic_3: Truth table Index: 23746d = 5CC2h

The L_DigitalLogic_3 FB: Parameterisation of the truth table
Selection list
0 False
1 True
C00830

C00830 | 16-bit inputs [%] Index: 23745d = 5CC1h
Display in percent of 16-bit input values of different blocks

-199.99 % 199.99
Subcodes Info
C00830/1 L_Absolut_1: nIn_a
C00830/2 L_AddSub_1: nIn1_a
C00830/5 L_OffsetGain_1: nIn_a
C00830/6 L_OffsetGain_1: nOffset_a
________________________________________________________________

C00830/7 L_OffsetGain_1: nGain_a

C00830/8 L_Negation_1: nIn_a
C00830/9 L_GainOffset_1: nIn_a
C00830/10 L_GainOffset_1: nGain_a
C00830/11 L_GainOffset_1: nOffset_a
C00830/12 L_Arithmetik_1: nIn1_a
C00830/14 L_AnalogSwitch_1: nIn1_a
C00830/16 L_Compare_1: nIn1_a
C00830/18 MCTRL: nTorqueLimitAdapt_a
C00830/20 MCTRL: nPosCtrlPAdapt_a
C00830/21 MCTRL: nPosCtrlOutLimit_a
C00830/22 MCTRL: nSpeedSetValue_a
C00830/23 MCTRL: nSpeedLowLimit_a
C00830/24 MCTRL: nSpeedCtrlI_a
C00830/25 MCTRL: nSpeedCtrlPAdapt_a
C00830/26 MCTRL: nBoost_a
C00830/27 MCTRL: nTorqueSetValue_a
C00830/28 MCTRL: nTorqueGenLimit_a
C00830/29 MCTRL: nTorqueMotLimit_a
C00830/31 MCTRL: nVoltageAdd_a
C00830/32 MCTRL: nPWMAngleOffset_a
C00830/33 L_NSet_1: nCInhVal_a
C00830/34 L_NSet_1: nNSet_a
C00830/35 L_NSet_1: nSet_a
C00830/36 L_NSet_1: nNAdd_a
C00830/37 DCTRL: wCANControl
C00830/38 DCTRL: wCCMControl
C00830/56 L_OffsetGainP_1: nIn_a
________________________________________________________________

C00830/61 L_PCTRL_1: nAct_a

C00830/62 L_PCTRL_1: nAdapt_a
C00830/63 L_PCTRL_1: nSet_a
C00830/64 L_PCTRL_1: nInfluence_a
C00830/65 MCK: nSpeedCtrlI_a
C00830/66 MCK: nPWMAngleOffset_a
C00830/68 MCK: nMBrakeAddValue_a
C00830/69 MCK: nTorqueSetValue_a
C00830/70 MCK: nTorqueLimitAdapt_a
C00830/71 MCK: nSRampOverride_a
C00830/72 MCK: nSpeedSetValue_a
C00830/73 MCK: wMotionCtrl2
C00830/75 MCK: nSpeedOverride_a
C00830/76 MCK: nAccOverride_a
C00830/77 MCK: nSpeedAdd_v
C00830/78 MCK: wAuxCtrl
C00830/79 MCK: wSMCtrl
C00830/81 L_MPot_1: nIn_a
C00830/82 L_MulDiv_1: nIn_a
C00830/83 LS_DataAccess: wIn1
(Lenze-internal)
(Lenze-internal)
(Lenze-internal)
(Lenze-internal)
C00830/87 L_PT1_1: nIn_a
C00830/88 MCTRL: nSpeedHighLimit_a
C00830/89 L_PCTRL_1: nNSet_a
C00830/90 L_PCTRL_1: nISet_a
C00830/91 L_Interpolator_1: nPhdIn_v
C00830/92 L_Interpolator_1: nNIn_a
C00830/96 MCTRL: nInertiaAdapt_a
C00830/97 MCTRL: nSpeedSetValueInertiaAdapt_a
________________________________________________________________
C00831

C00831 | 16-bit inputs Index: 23744d = 5CC0h
Decimal/hexadecimal/bit coded display of 16 bit input values of various blocks

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Active
... ...
Bit 15 Active
Subcodes Info
C00831/1 L_Absolut_1: nIn_a
C00831/8 L_Negation_1: nIn_a
C00831/18 MCTRL: nTorqueLimitAdapt_a
C00831/20 MCTRL: nPosCtrlPAdapt_a
C00831/21 MCTRL: nPosCtrlOutLimit_a
C00831/22 MCTRL: nSpeedSetValue_a
C00831/23 MCTRL: nSpeedLowLimit_a
C00831/24 MCTRL: nSpeedCtrlI_a
C00831/25 MCTRL: nSpeedCtrlPAdapt_a
C00831/26 MCTRL: nBoost_a
C00831/27 MCTRL: nTorqueSetValue_a
C00831/28 MCTRL: nTorqueGenLimit_a
C00831/29 MCTRL: nTorqueMotLimit_a
C00831/31 MCTRL: nVoltageAdd_a
C00831/32 MCTRL: nPWMAngleOffset_a
C00831/33 L_NSet_1: nCInhVal_a
C00831/34 L_NSet_1: nNSet_a
C00831/35 L_NSet_1: nSet_a
C00831/36 L_NSet_1: nNAdd_a
________________________________________________________________

C00831/37 DCTRL: wCANControl

C00831/38 DCTRL: wMCIControl
C00831/61 L_PCTRL_1: nAct_a
C00831/62 L_PCTRL_1: nAdapt_a
C00831/63 L_PCTRL_1: nSet_a
C00831/64 L_PCTRL_1: nInfluence_a
C00831/65 MCK: nSpeedCtrlI_a
C00831/66 MCK: nPWMAngleOffset_a
C00831/68 MCK: nMBrakeAddValue_a
C00831/69 MCK: nTorqueSetValue_a
C00831/70 MCK: nTorqueLimitAdapt_a
C00831/71 MCK: nSRampOverride_a
C00831/72 MCK: nSpeedSetValue_a
C00831/75 MCK: nSpeedOverride_a
C00831/76 MCK: nAccOverride_a
C00831/77 MCK: nSpeedAdd_v
C00831/78 MCK: wAuxCtrl
C00831/79 MCK: wSMCtrl
C00831/81 L_MPot_1: nIn_a
C00831/82 L_MulDiv_1: nIn_a
(Lenze-internal)
(Lenze-internal)
(Lenze-internal)
(Lenze-internal)
________________________________________________________________

C00831/87 L_PT1_1: nIn_a

C00831/88 MCTRL: nSpeedHighLimit_a
C00831/89 L_PCTRL_1: nNSet_a
C00831/90 L_PCTRL_1: nISet_a
C00831/91 L_Interpolator_1: nPhdIn_v
C00831/92 L_Interpolator_1: nNIn_a
C00831/96 MCTRL: nInertiaAdapt_a
C00831/97 MCTRL: nSpeedSetValueInertia_a
C00833

C00833 | Binary inputs Index: 23742d = 5CBEh
Display of the signal status of the binary inputs of different blocks

Selection list
0 False
1 True
Subcodes Info
C00833/1 L_And_1: bIn1
C00833/2 L_And_1: bIn2
C00833/3 L_And_1: bIn3
C00833/4 L_DFlipFlop_1: bD
C00833/5 L_DFlipFlop_1: bClk
C00833/6 L_DFlipFlop_1: bClr
C00833/7 L_Not_1: bIn
C00833/8 L_Or_1: bIn1
C00833/9 L_Or_1: bIn2
C00833/10 L_Or_1: bIn3
C00833/11 L_RLQ_1: bCw
C00833/12 L_RLQ_1: bCcw
C00833/13 L_AnalogSwitch_1: bSet
C00833/14 L_NSet_1: bRfgStop
C00833/15 L_NSet_1: bRfg0
C00833/16 L_NSet_1: bNSetInv
C00833/17 L_NSet_1: bJog1
C00833/21 L_NSet_1: bTi1
C00833/22 L_NSet_1: bTi2
C00833/23 L_NSet_1: bTi4
C00833/24 L_NSet_1: bTi8
C00833/25 L_NSet_1: bLoad
________________________________________________________________

C00833/26 L_NSet_1: bExternalCINH

C00833/27 MCTRL: bPosCtrlOn
C00833/28 MCTRL: bSpeedInterpolatorOn
C00833/29 MCTRL: bTorqueInterpolatorOn
C00833/30 MCTRL: bTorquemodeOn
C00833/31 MCTRL: bSpeedCtrlIOn
C00833/32 MCTRL: bAutoBoostOn
C00833/33 MCTRL: bQSPOn
C00833/34 MCTRL: bDcBrakeOn
C00833/35 MCTRL: bDeltaPosOn
C00833/36 DCTRL: bCINH
C00833/37 DCTRL: bFailReset
C00833/38 DCTRL: bStatus_B0
C00833/45 DCTRL: bFree_1
C00833/49 L_And_2: bIn1
C00833/50 L_And_2: bIn2
C00833/51 L_And_2: bIn3
C00833/52 L_And_3: bIn1
C00833/53 L_And_3: bIn2
C00833/54 L_And_3: bIn3
C00833/55 L_Or_2: bIn1
C00833/56 L_Or_2: bIn2
C00833/57 L_Or_2: bIn3
C00833/58 L_Or_3: bIn1
C00833/59 L_Or_3: bIn2
C00833/60 L_Or_3: bIn3
C00833/61 L_Not_2: bIn
C00833/62 L_Not_3: bIn
C00833/63 L_DigitalLogic_1: bIn1
C00833/66 L_DigitalDelay_1: bIn
C00833/67 MCTRL: bPosDerivativeOn
C00833/68 MCTRL: bMotorRefOffsetOn
C00833/69 MCTRL: bSpeedCtrlPAdaptOn
________________________________________________________________


C00833/72 L_MPot_1: bUp
C00833/73 L_MPot_1: bInAct
C00833/74 L_MPot_1: bDown
C00833/75 L_PCTRL_1: bPIDOff
C00833/76 L_PCTRL_1: bInAct
C00833/77 L_PCTRL_1: bIOff
C00833/78 MCK: bSpeedCtrlIOn
C00833/79 MCK: bDcBrakeOn
C00833/80 MCK: bMBrakeRelease
C00833/81 MCK: bMBrakeStartValue2
C00833/82 MCK: bMBrakeApplied
C00833/83 MCK: bLimitSwitchPos
C00833/84 MCK: bLimitSwitchNeg
C00833/85 MCK: bPosCtrlOn
C00833/86 MCK: bDeltaPosOn
C00833/87 MCK: bPosDerivativeOn
C00833/88 MCK: bMotorRefOffsetOn
C00833/89 MCK: bQspOn
C00833/90 MCK: bTorquemodeOn
C00833/91 MCK: bTorqueLimitAdaptOn
C00833/92 MCK: bHomMark
C00833/93 L_Transient_1: bIn
C00833/98 MCTRL: bTorqueLimitAdaptOn
C00833/99 L_NSet_1: bNAddInv
C00833/100 L_MPot_1: bEnable
C00833/102 LS_DataAccess: bEnableIn1
(Lenze-internal)
(Lenze-internal)
(Lenze-internal)
(Lenze-internal)
C00833/106 L_PCTRL_1: bEnableInfluenceRamp
C00833/111 L_JogCtrlExtension: bInputSel1
C00833/112 L_JogCtrlExtension: bInputSel2
C00833/113 L_JogCtrlExtension: bRfgIn
C00833/114 L_JogCtrlExtension: bJog1In
C00833/115 L_JogCtrlExtension: bJog2In
C00833/116 L_JogCtrlExtension: bSlowDown1
________________________________________________________________

C00833/117 L_JogCtrlExtension: bStop1

C00833/118 L_JogCtrlExtension: bbSlowDown2
C00833/120 L_JogCtrlExtension: bSlowDown3
C00833/122 L_PCTRL_1: bISet
C00833/123 L_Interpolator_1: bSpeedAct0
C00833/124 L_Or_4: bIn1
C00833/125 L_Or_4: bIn2
C00833/126 L_Or_4: bIn3
C00833/130 MCTRL: bBrakeChopperOn
C00833/131 MCTRL: bVfcEcoDisable
C00834

C00834 | 32-bit inputs [incr] Index: 23741d = 5CBDh

Display in [increments] of 32 bit input values of various blocks
-2147483647 Incr. 2147483647
Subcodes Info
C00834/1 MCK: dnPosSetValue_p
C00834/2 MCK: dnMotorRefOffset_p
C00834/3 MCK: dnDeltaPos_p
C00834/4 MCTRL: dnDeltaPos_p
C00834/5 MCTRL: dnPosSetValue_p
C00834/6 MCTRL: dnMotorRefOffset_p
C00834/7 MCK: dnProfilePosition_p
C00834/8 L_Interpolator_1: dnPhiIn_p
________________________________________________________________
C00840

C00840 | 16-bit inputs I/O level [%] Index: 23735d = 5CB7h
Display in percent of 16 bit input values of various blocks of the I/O level
-199.99 % 199.99
Subcodes Info
C00840/1 LS_AnalogOutput: nOut1_a
C00840/2 LP_CanOut1: wState
C00840/3 LP_CanOut1: wOut2
C00840/14 LS_DisFree_a: nDis1_a
C00840/18 LS_DisFree: wDis1
C00840/22 LP_MciOut: wState
C00840/23 LP_MciOut: wOut2
C00840/49 LS_ParReadWrite_1: wParIndex
________________________________________________________________

C00840 | 16-bit inputs I/O level [%] Index: 23735d = 5CB7h
C00840/50 LS_ParReadWrite_1: wParSubindex

C00840/51 LS_ParReadWrite_1: wInHWord
C00840/52 LS_ParReadWrite_1: wInLWord
C00841

C00841 | 16-bit inputs I/O level Index: 23734d = 5CB6h
Decimal/hexadecimal/bit coded display of 16 bit input values of various blocks of the I/O level
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Active
... ...
Bit 15 Active
Subcodes Info
C00841/1 LS_AnalogOutput: nOut1_a
________________________________________________________________

C00841 | 16-bit inputs I/O level Index: 23734d = 5CB6h

________________________________________________________________
C00843

C00843 | Binary inputs I/O level Index: 23732d = 5CB4h
Display of the signal status of the binary inputs of different I/O level blocks
Selection list
0 False
1 True
Subcodes Info
C00843/1 LS_DigitalOutput: bRelay
C00843/2 LS_DigitalOutput: bOut1
C00843/3 LS_DigitalInput: bCountIn1_Reset
C00843/4 LS_DigitalInput: bCountIn1_LoadStartValue
C00843/5 LP_CanOut1: bState_B0
C00843/21 LS_DisFree_b: bDis1
C00843/29 LP_CanOut2: bOut1_B0
________________________________________________________________


C00843/61 LP_MciOut: bState_B0
C00843/77 LP_MciOut: bOut2_B0
________________________________________________________________


C00843/93 LS_SetError_1: bSetError1
C00843/111 LS_ParReadWrite_1: bExecute
C00843/112 LS_ParReadWrite_1: bReadWrite
C00843/123 LS_WriteParamList: bExecute
C00843/124 LS_WriteParamList: bSelectWriteValue_1
C00843/125 LS_WriteParamList: bSelectWriteValue_2
C00843/126 LS_CANManagement: bResetNode
C00843/127 LS_CANManagement: bReInitCAN
C00843/128 LS_DigitalInput: bPosIn12_Load
C00844

C00844 | 32-bit inputs I/O level [incr] Index: 23731d = 5CB3h
Display of 32-bit input values of different I/O level blocks in [increments]

-2147483647 Incr. 2147483647
Subcodes Info
C00844/9 LP_CanOut1: dnOut34_p
C00844/12 LP_MciOut: dnOut34_p
C00844/13 LS_DigitalInput: dnPosIn12_Set_p
________________________________________________________________
C00866

C00866 | CAN input words Index: 23709d = 5C9Dh
Display of the 16 bit input values of the CAN interface

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Active
... ...
Bit 15 Active
Subcodes Info
C00866/1 LP_CanIn1: wCtrl
C00866/2 LP_CanIn1: wIn2
________________________________________________________________
C00868

C00868 | CAN output words Index: 23707d = 5C9Bh
Display of the 16 bit output values of the CAN interface

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Active
Bit 1 Active
Bit 2 Active
Bit 3 Active
Bit 4 Active
Bit 5 Active
Bit 6 Active
Bit 7 Active
Bit 8 Active
Bit 9 Active
Bit 10 Active
Bit 11 Active
Bit 12 Active
Bit 13 Active
Bit 14 Active
Bit 15 Active
Subcodes Info
________________________________________________________________
C00876

C00876 | MCI input words Index: 23699d = 5C93h
Display of the 16 bit input values of the communication module

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Active
... ...
Bit 15 Active
Subcodes Info
C00876/1 LP_MciIn: wCtrl
C00876/2 LP_MciIn: wIn2
________________________________________________________________
C00877

C00877 | MCI output words Index: 23698d = 5C92h
Display of the 16 bit output values of the communication module

0x0000 0xFFFF
Value is bit-coded:
Bit 0 Active
... ...
Bit 15 Active
Subcodes Info
C00890

C00890 | MCI_InOut: Inversion Index: 23685d = 5C85h

This parameter serves to invert the control/status bits of the MCI port blocks.
0x0000 0xFFFF
Bit 0 Active Bit set = inversion active
... ...
Bit 15 Active
C00890/1 0x0000 LP_MciIn: Invert.Ctrl_B0..15
C00890/2 0x0000 LP_MciOut: Invert.State_B0..15
C00890/3 0x0000 LP_MciIn: Invert. In2_B0..15
C00890/4 0x0000 LP_MciOut: Invert.Out2_B0..15
________________________________________________________________
C00905

C00905 | Motor phase direction of rotation Index: 23670d = 5C76h

To correct such misconnected motor phases, the rotating field of the controller's output can be reversed by selecting
"1: Inverted". In this case, a phase will be reversed at the output of the inverter.
Note:
Up to and including version 11.00.00, this function may only be activated for the following motor control types:
• V/f characteristic control (VFCplus)
• Energy-saving V/f characteristic control (VFCplusEco)
For all other motor control types, this function must not be activated because the set control mode would not work
in that case!
From version 12.00.00, this function may be activated for all motor control types with the exception of the ones for
synchronous motor.
The activation of this function does not affect the control types for synchronous motor since these control types
require an in-phase connection of the synchronous motor.
0 not inverted
1 inverted
C00909

C00909 | Speed limitation Index: 23666d = 5C72h
Max. positive/negative speed for all motor control modes

0.00 % 175.00
C00909/1 120.00 % Max. pos. speed
C00909/2 120.00 % Max. neg. speed
C00910

C00910 | Frequency limitation Index: 23665d = 5C71h
Max. positive/negative output frequency for all motor control modes

0 Hz 1300
C00910/1 1000 Hz Max. pos. output frequency
C00910/2 1000 Hz Max. neg. output frequency
________________________________________________________________
C00915

C00915 | Motor cable length Index: 23660d = 5C6Ch

Single motor cable length for calculating the motor cable resistance
• The calculated motor cable resistance is displayed in C00917.
0.0 m 1000.0 5.0 m
C00916

C00916 | Motor cable cross-section Index: 23659d = 5C6Bh

Motor cable cross-section of a phase/cable for calculating the motor cable resistance
• The calculated motor cable resistance is displayed in C00917.
0.50 mm^2 100.00 6.00 mm^2
C00917

C00917 | Motor cable resistance Index: 23658d = 5C6Ah

Display of the motor cable resistance of a motor cable phase
• The motor cable resistance is calculated from the motor cable length set in C00915 and the motor cable cross-
section set in C00916.
0 mOhm 64000
C00919

C00919 | Moment of inertia from load Index: 23656d = 5C68h

In order to take account of mass inertias changing during the process (e.g. reels) when optimising the response to
setpoint changes, the maximum value of the changing moment of inertia must be set here. The process signal
nInertiaAdapt_a of the LS_MotorInterface SB can then be used in the process to dynamically control what
percentage of it is to be taken into account for the setpoint feedforward control.
0.00 kg cm^2 6000000.00
C00919/1 0.00 kg cm^2 Load moment of inertia
C00922

C00922 | ICM_DiagnosticCounter Index: 23653d = 5C65h
________________________________________________________________
C00937

C00937 | Field-oriented motor currents Index: 23638d = 5C56h

Field weakening for synchronous motors
-320.00 A 320.00
Subcodes Info
C00937/1 Field-producing current
C00937/2 Torque-producing current
C00938

C00938 | PSM: Maximum motor current field weakening Index: 23637d = 5C55h

Field weakening for synchronous motors
0.00 % 500.00 30.00 %
C00939

C00939 | Ultimate motor current Index: 23636d = 5C54h

0.0 A 3000.0 3000.0 A
C00950

C00950 | L_Interpolator_1: Activation FB functions Index: 23625d = 5C49h

The L_Interpolator_1 FB: Activation of signal interpolation and signal monitoring
Selection list
0 Off
1 On
C00950/1 0: Off L_Interpolator_1: Signal interpolation
C00950/2 0: Off L_Interpolator_1: Signal monitoring
C00950/3 0: Off L_Interpolator_1: Master value monitoring
________________________________________________________________
C00951

C00951 | L_Interpolator_1: No. of interpolation steps Index: 23624d = 5C48h

The L_Interpolator_1 FB: No. of interpolation steps
0 65535 1
C00952

C00952 | L_Interpolator_1: Limit value - error cycles Index: 23623d = 5C47h

The L_Interpolator_1 FB: Limit value for missing data telegrams
0 65535 5
C00953

C00953 | L_Interpolator_1: Speed-up Index: 23622d = 5C46h

FB L_Interpolator_1: Limitation of the number of correction increments per cycle (speed-up)
0 100 0
C00965

C00965 | Max. motor speed Index: 23610d = 5C3Ah

When the drive reaches the motor speed set here:
• The "Fault" error response takes place, i.e. the motor is shut down immediately.
• The error message "oS2: Max. motor speed reached" is entered into the logbook.
50 rpm 65000 60000 rpm
C00966

C00966 | VFC: Time const. slip comp. Index: 23609d = 5C39h

Filter time constant of the slip compensation for V/f characteristic control (VFCplus)
• The time constant of slip compensation serves to specify the dynamics of slip compensation for V/f characteristic
control without feedback.
• The lower the selected time constant, the higher the dynamic performance of the slip compensation.
1 ms 6000 100 ms
________________________________________________________________
C00967

C00967 | VFC: Frequency interpol. point n Index: 23608d = 5C38h

Selection of the interpolation points (frequency values) for the V/f characteristic control (VFCplus) with user-
definable V/f characteristic (C00006 = "10")
-2600.0 Hz 2600.0
C00967/1 -50.0 Hz VFC: Frequency interpol. point 1
C00967/6 0.0 Hz VFC: Frequency interpol. point 6
C00968

C00968 | VFC: Voltage interpol. point n Index: 23607d = 5C37h

Selection of the interpolation points (voltage values) for the V/f characteristic control (VFCplus) with user-definable
V/f characteristic (C00006 = "10")
0.00 V 600.00
C00968/1 400.00 V VFC: Voltage interpol. point 1
________________________________________________________________
C00969

C00969 | Motorparameter Index: 23606d = 5C36h

1 255
Subcodes Info
C00969/1 Motor - number of pole pairs
C00971

C00971 | VFC: Limitation V/f +encoder Index: 23604d = 5C34h
Limitation of the output frequency of the slip regulator and limitation of the injected stator frequency for the V/f
control (VFCplus+encoder)
0.00 Hz 100.00
C00971/1 10.00 Hz Maximum output / correcting variable of the slip
regulator
• The slip regulator output is limited to the value set
here in motor/generator mode.
• It is recommended to select 1 to 3 times the slip
frequency of the motor as limit value.
C00971/2 100.00 Hz Maximum frequency deviation between the rotational
frequency (speed) measured mechanically by the
encoder and the injected stator frequency.
• A limitation may e.g. avoid overcurrent interruption
when traversing to a fixed limit stop.
C00972

C00972 | VFC: Vp V/f +encoder Index: 23603d = 5C33h
Proportional gain of the slip regulator for V/f control (VFCplus+encoder)

• The gain must be selected depending on the drive system and the sensor resolution (range: 0.005 ... 5).
• A high gain requires a high number of increments.
0.000 Hz/Hz 64.000 0.100 Hz/Hz
C00973

C00973 | VFC: Ti V/f +encoder Index: 23602d = 5C32h
Integral time constant of the slip regulator for V/f control (VFCplus+encoder)
• In general, the time constant should be selected in a range of 20 ms (high dynamics) to 200 (low dynamics).
0.0 ms 6000.0 100.0 ms
________________________________________________________________
C00975

C00975 | VFC-ECO: Vp CosPhi controller Index: 23600d = 5C30h

Proportional gain of the Cos-Phi controller for energy-saving V/f characteristic control (VFCplusEco)
0.000 Hz/Hz 64.000 0.500 Hz/Hz
C00976

C00976 | VFC-ECO: Ti CosPhi controller Index: 23599d = 5C2Fh

Reset time of the Cos-Phi controller for energy-saving V/f characteristic control (VFCplusEco)
0.0 ms 6000.0 200.0 ms
C00977

C00977 | VFC-ECO: Minimum voltage V/f Index: 23598d = 5C2Eh

Minimum voltage V/f of the Cos-Phi controller for energy-saving V/f characteristic control (VFCplusEco)
20.00 % 100.00 20.00 %
C00978

C00978 | VFC-ECO: Voltage reduction Index: 23597d = 5C2Dh

Display of the voltage reduction with energy-saving V/f characteristic control (VFCplusEco)
-1000 V 1000
C00979

C00979 | Cosine phi Index: 23596d = 5C2Ch

Display of the cosϕ setpoint and actual value with energy-saving V/f characteristic control (VFCplusEco)
-1.00 1.00
Subcodes Info
C00979/1 Cosine phi act
C00979/2 Cosine phi set
________________________________________________________________
C00980

C00980 | Output power Index: 23595d = 5C2Bh

Display parameter for an energy analysis in the prevailing application. From this, decisions can be deduced whether
a measure for energy optimisation is economic.
-32.000 kW 32.000
Subcodes Info
C00980/1 Active output power
C00980/2 Apparent output power
C00981

C00981 | Energy display Index: 23594d = 5C2Ah

Display parameter for an energy analysis in the prevailing application. From this, decisions can be deduced whether
a measure for energy optimisation is economic.
• The values are saved to the device by switching off the mains and cannot be reset.
0.00 kWh 21474836.47
Subcodes Info
C00981/1 Output energy in motor mode
C00981/2 Output energy in generator mode
C00982

C00982 | VFC-ECO: Voltage reduction ramp Index: 23593d = 5C29h

Voltage ramp for cancelling V-Sub with energy-saving V/f characteristic control (VFCplusEco)
0.0 s 5.0 0.8 s
C00983

C00983 | Delay Index: 23592d = 5C28h

0 ms 4000
C00983/1 50 ms Delay Imax
C00983/2 1000 ms VFC: Voltage ramp after overvoltage oU
________________________________________________________________
C00985

C00985 | SLVC: Field current controller gain Index: 23590d = 5C26h
Gain of the direct-axis current difference (Id) between setpoint and actual current for the voltage model of the
sensorless vector control (SLVC)
• The gain should be selected in a range of 0 ...1 %.
0.00 % 20.00 0.50 %
C00986

C00986 | SLVC: Cross current controller gain Index: 23589d = 5C25h
Gain of the cross current difference for the voltage model of the sensorless vector control (SLVC)
0.00 % 20.00 0.00 %
C00987

C00987 | Inverter motor brake: nAdd Index: 23588d = 5C24h

Speed lift which is connected in pulses to the brake rampe when the motor is braked.
Inverter motor brake
0 rpm 1000 80 rpm
C00988

C00988 | Inverter motor brake: PT1 filter time Index: 23587d = 5C23h

PT1 filter time for smoothing the speed lift which is added in pulses (C00987)
Inverter motor brake
0.0 ms 100.0 0.0 ms
C00989

C00989 | Restart on the fly: Flying restart frequency fd_add Index: 23586d = 5C22h

Flying restart fct.
0.00 Hz 5.00
C00989/1 0.00 Hz Restart on the fly: Flying restart frequency fd_add
________________________________________________________________
C00990

C00990 | Flying restart fct.: Activation Index: 23585d = 5C21h
Switch on/activate flying restart circuit for non-feedback drive systems

0 Off
1 On
C00991

C00991 | Flying restart fct.: Process Index: 23584d = 5C20h
Selection of the starting value and the speed search range for the flying restart function
0 0...+n | Start: +10 Hz Search positive speed range (0 ... +n) with a start
frequency of +10 Hz
1 -n...0 | Start: -10 Hz Search negative speed range (-n ... 0) with a start
frequency of -10 Hz
2 -n...+n | Start: +10 Hz Search negative and positive speed range (-n ... n) with a
start frequency of +10 Hz
3 -n...+n | Start: -10 Hz Search negative and positive speed range (-n ... n) with a
start frequency of -10 Hz
4 -n...+n | Start: Cx992 Search the negative and positive speed range (-n ... n)
with the start frequency set in C00992
C00992

C00992 | Flying restart fct.: Start frequency Index: 23583d = 5C1Fh
Manual selection of the starting value for the flying restart function
• Only active if C00991 = 4
-200 Hz 200 10 Hz
C00993

C00993 | Flying restart fct: Int. time Index: 23582d = 5C1Eh
Time constant of the angular difference controller of the flying restart function
• The time constant is to amount between 60 ... 300 ms.
0.0 ms 6000.0 300.0 ms
________________________________________________________________
C00994

C00994 | Flying restart fct.: Current Index: 23581d = 5C1Dh
Current to be injected during the flying restart process

• 100 % ≡ rated motor current (C00088).
• The flying restart current should amount to 10 ... 25 % of the rated motor current.
0.00 % 100.00 25.00 %
C00995

C00995 | SLPSM: Controlled current setpoint Index: 23580d = 5C1Ch

5.00 % 400.00
C00995/1 100.00 % SLPSM: Controlled accelerating current
C00995/2 20.00 % SLPSM: Controlled standstill current
C00996

C00996 | SLPSM: Switching speed Index: 23579d = 5C1Bh

0.00 % 100.00
C00996/1 13.00 % SLPSM: Switching speed, closed-loop control
C00996/2 8.00 % SLPSM: Switching speed, open-loop control
C00997

C00997 | SLPSM: Filter cutoff frequency Index: 23578d = 5C1Ah

0.00 % 100.00 5.00 %
________________________________________________________________
C00998

C00998 | SLPSM: Filter time rotor position Index: 23577d = 5C19h

0.5 ms 20.0
C00998/1 3.0 ms SLPSM: Filter time rotor position
C00998/2 5.0 ms SLPSM: Filter time actual speed value
C00999

C00999 | SLPSM: PLL gain Index: 23576d = 5C18h

0 % 1000 400 %
________________________________________________________________
C01000

C01000 | MCTRL: Status Index: 23575d = 5C17h

0x0000 0xFFFF
Bit 0 SLPSM: Speed closed-loop control 1 ≡ The sensorless control for synchronous motors is in
the closed-loop controlled operation (|nSetpoint| >
nC00996).
Bit 1 SLPSM: Speed open-loop control From version 12.00.00
1 ≡ The sensorless control for synchronous motors is in
the open-loop controlled operation (|nSetpoint| > nC00996).
Bit 2 Motor ASM From version 12.00.00
1 ≡ Set motor type is "Asynchronous motor"
Bit 3 Motor PSM From version 12.00.00
1 ≡ Set motor type is "Synchronous motor"
Bit 4 Encoder open circuit: V/f linear active From version 15.00.00
1 ≡ Due to an encoder open circuit, it has been internally
switched to the encoderless V/f characteristic control to
avoid impermissible motor movements.
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT
C01001

C01001 | Manual entry of motor type Index: 23574d = 5C16h

Selection list
0 Automatic
1 ASM
2 PSM
C01001/1 0: Automatic Manual entry of motor type
________________________________________________________________
C01082

C01082 | LS_WriteParamList: Execute Mode Index: 23493d = 5BC5h

Parameter change-over: Selection of the activation method
0 by Execute The writing of the parameter list is activated by a
FALSE/TRUE edge at the bExecute input.
1 by Input Select The writing of the parameter list is carried out if a change
is made at the select inputs and if the controller is
initialised.
C01083

C01083 | LS_WriteParamList: Error status Index: 23492d = 5BC4h

Parameter change-over: Error status:
• 0 = no error
• 33803 | 0x840B = invalid data type (e.g. STRING)
• 33804 | 0x840C = limit violation
• 33806 | 0x840E = invalid code
• 33813 | 0x8415 = no element of the selection list
• 33815 | 0x8417 = writing of the parameter not permitted
• 33816 | 0x8418 = writing of the parameter only permitted if controller is inhibited
• 33829 | 0x8425 = invalid subcode
• 33865 | 0x8449 = no parameter with subcodes
0 34000
C01084

C01084 | LS_WriteParamList: Error line Index: 23491d = 5BC3h

Parameter change-over: Display of the number of list entry where the error occurred (in connection with the value
set selected via bSelectWriteValue_1 and bSelectWriteValue_2).
0 32
________________________________________________________________
C01085

C01085 | LS_WriteParamList: Index Index: 23490d = 5BC2h

Parameter change-over: Parameter for entry 1 ... 32
0.000 16000.000
C01085/1 0.000 Parameter for entries 1 ... 32
C01085/... • Format: <code number>.<subcode number>
• Examples: "12.000" = C00012; "26.001" = C00026/1
C01085/32
C01086

C01086 | LS_WriteParamList: WriteValue_1 Index: 23489d = 5BC1h

Parameter change-over: Parameter values - value set 1
-2147483647 2147483647
C01086/1 0 Parameter values - value set 1
C01086/... • Parameter values for the parameters defined in
C01085/1 ... 32.
C01086/32
C01087

C01087 | LS_WriteParamList: WriteValue_2 Index: 23488d = 5BC0h

-2147483647 2147483647
C01085/1 ... 32.
C01087/32
________________________________________________________________
C01088

C01088 | LS_WriteParamList: WriteValue_3 Index: 23487d = 5BBFh

-2147483647 2147483647
C01085/1 ... 32.
C01088/32
C01089

C01089 | LS_WriteParamList: WriteValue_4 Index: 23486d = 5BBEh

-2147483647 2147483647
C01085/1 ... 32.
C01089/32
C01090

C01090 | LS_ParReadWrite 1-3: Index Index: 23485d = 5BBDh

Parameter to be read or written.
• Format: <code number>,<subcode number>
• For a setting of "0,000", inputs wParIndex and wParSubindex are effective for addressing purposes instead.
0.000 16000.000
C01090/1 0.000 LS_ParReadWrite_1: Index
________________________________________________________________
C01091

C01091 | LS_ParReadWrite 1-3: Cycle time Index: 23484d = 5BBCh

Time interval for cyclic reading/writing
Selection list
0 0 (by Execute)
20 20 ms
50 50 ms
100 100 ms
200 200 ms
500 500 ms
1000 1000 ms
2000 2000 ms
5000 5000 ms
10000 10000 ms
C01091/1 0: 0 (by Execute) LS_ParReadWrite_1: Cycle time
C01092

C01092 | LS_ParReadWrite 1-3: FailState Index: 23483d = 5BBBh

Error status:
• 0 = no error
• 33803 | 0x840B = invalid data type (e.g. STRING)
• 33804 | 0x840C = limit violation
• 33806 | 0x840E = invalid code
• 33813 | 0x8415 = no element of the selection list
• 33815 | 0x8417 = writing of the parameter not permitted
• 33816 | 0x8418 = writing of the parameter only permitted if controller is inhibited
• 33829 | 0x8425 = invalid subcode
• 33865 | 0x8449 = no parameter with subcodes
0 34000
Subcodes Info
C01092/1 LS_ParReadWrite_1: Error status
________________________________________________________________
C01093

C01093 | LS_ParReadWrite 1-3: Arithmetic mode Index: 23482d = 5BBAh

The integrated arithmetic function allows for easy arithmetic conversion of the process value to be written or which
was read into the format of the target parameter via parameterisable factors and without the need for an
additional arithmetic FB.
Selection list
0 No arithmetic
1 In16Bit: LW=+/-32767
2 In16Bit: HW=+/-; LW=0..65535
3 In32Bit: HW_LW=+/-2147483647
C01093/1 0: no arithmetic LS_ParReadWrite_1: Arithmetic mode
C01094

C01094 | LS_ParReadWrite 1-3: Numerator Index: 23481d = 5BB9h

Arithmetic function: Factor (numerator) for internal conversion in arithmetic modes 1 ... 3.
-32767 32767
C01094/1 1 LS_ParReadWrite_1: Numerator
C01095

C01095 | LS_ParReadWrite 1-3: Denominator Index: 23480d = 5BB8h

Arithmetic function: Factor (denominator) for internal conversion in arithmetic modes 1 ... 3.
1 32767
C01095/1 1 LS_ParReadWrite_1: Denominator
________________________________________________________________
C01120

C01120 | Sync signal source Index: 23455d = 5B9Fh

Selection of the signal source for device synchronisation
• The drive can only be synchronised by one source.
Synchronisation of the internal time base
0 Off Synchronisation off
1 CAN on board Synchronisation via CAN bus
Sync telegram
4 MCI Synchronisation via MCI (communication module)
C01121

C01121 | Sync cycle time setpoint Index: 23454d = 5B9Eh

Cycle time setpoint for device synchronisation
• Time interval at which the phase control loop (PLL) in the controller expects the synchronisation signals.
• The cycle time setpoint must be set according to the cycle of the respective synchronisation source.
Note:
• Only integer multiples of 1000 μs can be set.
• Intelligent communication modules usually define the cycle time setpoint derived from the bus cycle. In this
case, a manual change is not possible.
Example: For the CAN bus, a distance of 2 ms has been set between two synchronisation signals. If the CAN bus is
to be used as synchronisation source, a synchronisation cycle of 2000 μs must be set in C01121.
1000 μs 20000 1000 μs
C01122

C01122 | Sync phase position Index: 23453d = 5B9Dh

Phase position for device synchronisation
• The phase position determines the zero-time of the internal system cycle with regard to the synchronisation
signal (bus cycle). Since PDO processing is an inherent part of the system part of the application, the instant of
acceptance of the PDOs is postponed as well by a changed phase position.
• With a setting = 0, the system cycle starts simultaneously with the synchronisation signal.
• With a setting > 0, the internal system cycle starts earlier by the set time with regard to the synchronisation
signal (the phase position acts negatively).
• Intelligent communication modules define the optimal time with activated synchronisation by themselves. In
this case, a manual change is not possible.
• The decisive factor for defining C01122 is the time where all nodes are provided with valid PDOs.
Example: If the phase position is set to 550 μs, the system part of the application starts 550 μs before the arrival of
the synchronisation signal.
0 μs 1000 0 μs
________________________________________________________________
C01123

C01123 | Sync window Index: 23452d = 5B9Ch

Time slot for monitoring the synchronisation signal or the phase position
• The synchronisation signal or the current phase position must be within this time slot around the corresponding
expected value (C01122).
• With the setting "1000 μs" there will be no monitoring.
0 μs 10000 100 μs
C01124

C01124 | Sync correction width Index: 23451d = 5B9Bh

Correction increment for device synchronisation
• If the cycle times of the synchronisation signal differs and phase-locken loop (PLL) differ from each other, this
setting defines the measure the phase-locking loop is reset with.
• If synchronisation is not reached, select a higher correction constant.
• The optimum setting depends on quartz precision and must be determined empirically if required.
1 100ns
2 200ns
3 300ns
4 400ns
C01138

C01138 | L_Transient 1-4: Function Index: 23437d = 5B8Dh

Selection of edge evaluation
Selection list
0 High edge
1 Low edge
2 High and low edge
C01138/1 0: High edge L_Transient_1: Function
________________________________________________________________
C01139

C01139 | L_Transient 1-4: Pulse duration Index: 23436d = 5B8Ch

0.000 s 60.000
C01139/1 0.000 s L_Transient_1: Pulse duration
C01350

C01350 | ACDrive: Drive mode Index: 23225d = 5AB9h
Selection list
1 Speed mode
3 Torque mode
C01350/1 1: Speed mode ACDrive: Drive mode
________________________________________________________________
C01351

C01351 | ACDrive: Control word Index: 23224d = 5AB8h

Display of the "AC Drive Profile" control word for the controller
• Detailed information on the "AC Drive Profile" can be found in the EtherNet/IP™ communication manual.
Actuating drive speed (AC Drive Profile)
0x0000 0xFFFF
Bit 0 Run Forward Relationships between Run1 and Run2 and trigger
events can be found in the chapter "Run/Stop Event".
Bit 1 Run Backward
Bit 2 Fault Reset 0->1 ≡ Reset error
0 ≡ No response
Bit 3 Reserved
Bit 4 Reserved
Bit 5 NetCtrl Run/Stop control:
Bit 6 NetRef Reference speed/reference torque:
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
Subcodes Info
C01351/1 ACDrive: Control word
________________________________________________________________
C01352

C01352 | ACDrive: Status word Index: 23223d = 5AB7h

Display of the "AC Drive Profile" status word of the controller
• Detailed information on the "AC Drive Profile" can be found in the EtherNet/IP™ communication manual.
Actuating drive speed (AC Drive Profile)
0x0000 0xFFFF
Bit 0 Faulted 0 ≡ No errors
1 ≡ Errors have occurred
Bit 1 Warning 0 ≡ No warnings
1 ≡ Warnings have occurred
Bit 2 Running1 (Fwd) Relationships between Run1 and Run2 and trigger
events can be found in the chapter "Run/Stop Event".
Bit 3 Running2 (Rev)
Bit 4 Ready 0 ≡ Different status than in case of "1"
1 ≡ Ready or Enabled or Stopping
Bit 5 Ctrl from Net Run/Stop control:
Bit 6 Ref from Net Reference speed/reference torque:
Bit 7 At Reference 1 ≡ Currently, the controller runs with the reference
speed or reference torque (depending on the "drive
mode" set in C01350/1).
Bit 8 DriveState_0 The "Drive State" is coded as follows:
Bit 9 DriveState_1 0: Manufacturer-specific (not used with 8400)
1: Start-up (drive initialisation)
Bit 10 DriveState_2 2: Not_Ready (mains voltage switched off)
Bit 11 DriveState_3 3: Ready (mains voltage switched-on)
4: Enabled (drive has received "Run" command)
Bit 12 DriveState_4
5: Stopping (drive has received "Stop" command and is
Bit 13 DriveState_5 stopped)
Bit 14 DriveState_6 6: Fault_Stop (drive is stopped due to an error)
7: Faulted (errors have occurred)
Bit 15 DriveState_7
Subcodes Info
C01352/1 ACDrive: Status word
________________________________________________________________
C01353

C01353 | ACDrive: Setpoint scaling Index: 23222d = 5AB6h

Actuating drive speed (AC Drive Profil): Scaling of the speed and torque values
-128 127
C01353/1 0 ACDrive: Speed scaling
C01353/2 0 ACDrive: Torque scaling
C01501

C01501 | Resp. to communication error with MCI Index: 23074d = 5A22h
Configuration of monitoring functions for the communication module

Selection list
0 No Reaction
1 Fault
2 Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6 Information
C01501/1 0: No Reaction Resp. to MCI connection error
• Response to a communication error of the attached
communication module.
C01501/2 0: No Reaction Resp. to MCI invalid module
• Response to an unplugged or incompatible
communication module
C01751

C01751 | Service code inverter characteristic Index: 22824d = 5928h
C01752

C01752 | Service par. inverter charact. function Index: 22823d = 5927h
C01755

C01755 | Service par. inverter charact. factor Index: 22820d = 5924h
________________________________________________________________
C01763

C01763 | Service code -clamp threshold Index: 22812d = 591Ch
C01764

C01764 | Service par. clamp time Index: 22811d = 591Bh
C01765

C01765 | Service code - difference threshold UG Index: 22810d = 591Ah
C01770

C01770 | Filter time - earth-fault detect. is running Index: 22805d = 5915h

0 ms 250 2 ms
C01771

C01771 | BU-Osc: Cycle time selection Index: 22804d = 5914h
C01772

C01772 | BU-Osc: Trigger channel selection Index: 22803d = 5913h
C01773

C01773 | BU-Osc: Trigger command Index: 22802d = 5912h
C01774

C01774 | BU-Osc: Trigger mode Index: 22801d = 5911h
________________________________________________________________
C01775

C01775 | BU-Osc: Trigger Index: 22800d = 5910h
C01902

C01902 | Diagnostics X6: Max. baud rate Index: 22673d = 5891h
Maximally permissible baud rate in the standard device after determination of the baud rate at the diagnostic
interface X6
192 19.200 Bd
384 38.400 Bd
576 57.600 Bd
750 75.000 Bd
1152 115.200 Bd
1500 150.000 Bd
2500 250.000 Bd
3750 375.000 Bd
7500 750.000 Bd
C01903

C01903 | Diagnostics X6: Change baud rate Index: 22672d = 5890h
New baud rate determination at the diagnostic interface X6

0 Ignore changes
1 Negotiate baud rate
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT Scaling factor: 1
C01905

C01905 | Diagnostics X6: Current baud rate Index: 22670d = 588Eh
Current baud rate at the diagnostic interface X6

0 Bd 3000000
________________________________________________________________
C02200

C02200 | LS_WriteParamList: Function Index: 22375d = 5767h

Configuration of which parameter lists are to be subject to the "Parameter change-over" function.
Selection list
0 Off
1 On
C02200/1 1: On Definable parameter list
C02200/2 0: Off Motor data parameter list
C02210

C02210 | LS_WriteParamList: Motor control Index: 22365d = 575Dh
From version 12.00.00 onwards: Parameter values (1st value ... 4th value) for optional motor data change-over
Selection list
3 SLPSM: Sensorless PSM
4 SLVC: Vector control
6 VFCplus: V/f linear
7 VFCplus: V/f linear + encoder
8 VFCplus: V/f quadr
9 VFCplus: V/f quadr + encoder
10 VFCplus: V/f definable
11 VFCplusEco: V/f energy-saving
C02210/1 6: VFCplus: V/f linear LS_WriteParamList: c6_val1
C02212

C02212 | LS_WriteParamList: VFC: V/f base frequency Index: 22363d = 575Bh
7.5 Hz 2600.0
C02212/1 50.0 Hz LS_WriteParamList: c15_val1
________________________________________________________________
C02213

C02213 | LS_WriteParamList: VFC: Vmin boost Index: 22362d = 575Ah
0.00 % 100.00
C02213/1 1.60 % LS_WriteParamList: c16_val1
C02214

C02214 | LS_WriteParamList: Switching frequency Index: 22361d = 5759h
Selection list
C02214/1 2: 8 kHz var./drive-opt. LS_WriteParamList: c18_val1
________________________________________________________________
C02215

C02215 | LS_WriteParamList: Auto-DCB: Threshold Index: 22360d = 5758h
0 rpm 60000
C02215/1 3 rpm LS_WriteParamList: c19_val1
C02216

C02216 | LS_WriteParamList: Slip compensation Index: 22359d = 5757h
-100.00 % 100.00
C02217

C02217 | LS_WriteParamList: Imax in motor mode Index: 22358d = 5756h
0.00 A 655.35
C02217/1 47.00 A LS_WriteParamList: c22_val1
________________________________________________________________
C02218

C02218 | LS_WriteParamList: Imax in generator mode Index: 22357d = 5755h
0.00 % 100.00
C02219

C02219 | LS_WriteParamList: DC braking: Current Index: 22356d = 5754h
0.00 % 200.00
C02220

C02220 | LS_WriteParamList: Vp speed controller Index: 22355d = 5753h
0.00 600.00
C02220/1 15.00 LS_WriteParamList: c70_s1_val1
________________________________________________________________
C02221

C02221 | LS_WriteParamList: Ti speed controller Index: 22354d = 5752h
0.0 ms 6000.0
C02221/1 100.0 ms LS_WriteParamList: c71_s1_val1
C02222

C02222 | LS_WriteParamList: SC: Tdn speed controller Index: 22353d = 5751h
0.00 ms 3.00
C02222/1 0.00 ms LS_WriteParamList: c72_val1
________________________________________________________________
C02223

C02223 | LS_WriteParamList: Imax/M controller gain Index: 22352d = 5750h
0.00 100.00
C02224

C02224 | LS_WriteParamList: Imax/M controller reset time Index: 22351d = 574Fh
0 ms 9990
C02224/1 65 ms LS_WriteParamList: c74_s1_val1
C02225

C02225 | LS_WriteParamList: Vp current controller Index: 22350d = 574Eh
0.00 V/A 500.00
C02225/1 7.00 V/A LS_WriteParamList: c75_val1
________________________________________________________________
C02226

C02226 | LS_WriteParamList: Ti current controller Index: 22349d = 574Dh
0.00 ms 500.00
C02229

C02229 | LS_WriteParamList: SC: Settings Index: 22346d = 574Ah
Selection list
0 Off
1 On
C02229/1 0: Off LS_WriteParamList: c79_s1_val1
C02229/5 1: On LS_WriteParamList: c79_s2_val1
________________________________________________________________
C02230

C02230 | LS_WriteParamList: Override point of field weakening Index: 22345d = 5749h
-500 Hz 500
C02230/1 0 Hz LS_WriteParamList: c80_val1
C02231

C02231 | LS_WriteParamList: Rated motor power Index: 22344d = 5748h
0.00 kW 500.00
C02231/1 11.00 kW LS_WriteParamList: c81_val1
C02232

C02232 | LS_WriteParamList: Motor rotor resistance Index: 22343d = 5747h
0 mOhm 200000
C02232/1 276 mOhm LS_WriteParamList: c82_val1
________________________________________________________________
C02233

C02233 | LS_WriteParamList: Motor stator resistance Index: 22342d = 5746h
0 mOhm 200000
C02234

C02234 | LS_WriteParamList: Motor stator leakage inductance Index: 22341d = 5745h
0.00 mH 650.00
C02234/1 3.50 mH LS_WriteParamList: c85_val1
C02236

C02236 | LS_WriteParamList: Rated motor speed Index: 22339d = 5743h
50 rpm 60000
________________________________________________________________
C02237

C02237 | LS_WriteParamList: Rated motor current Index: 22338d = 5742h
0.20 A 320.00
C02238

C02238 | LS_WriteParamList: Rated motor frequency Index: 22337d = 5741h
1 Hz 1000
C02239

C02239 | LS_WriteParamList: Rated motor voltage Index: 22336d = 5740h
0 V 5000
C02239/1 400 V LS_WriteParamList: c90_val1
________________________________________________________________
C02240

C02240 | LS_WriteParamList: Motor cosine phi Index: 22335d = 573Fh
0.40 1.00
C02240/1 0.85 LS_WriteParamList: c91_val1
C02241

C02241 | LS_WriteParamList: Motor magnetizing inductance Index: 22334d = 573Eh
0.0 mH 6500.0
C02242

C02242 | LS_WriteParamList: Motor magnetising current Index: 22333d = 573Dh
0.00 A 320.00
________________________________________________________________
C02244

C02244 | LS_WriteParamList: Auto-DCB: Hold time Index: 22331d = 573Bh
0.000 s 999.000
C02244/1 0.500 s LS_WriteParamList: c106_val1
C02245

C02245 | LS_WriteParamList: DC braking: Hold time Index: 22330d = 573Ah
0.000 s 999.000
C02246

C02246 | LS_WriteParamList: Setting of motor overload (I²xt) Index: 22329d = 5739h
0.00 % 250.00
________________________________________________________________
C02249

C02249 | LS_WriteParamList: Oscillation damping influence Index: 22326d = 5736h
0.00 % 250.00
C02250

C02250 | LS_WriteParamList: Filter time - oscill. damping Index: 22325d = 5735h
2 ms 250
C02250/1 32 ms LS_WriteParamList: c235_val1
C02251

C02251 | LS_WriteParamList: Oscillation damping field weakening Index: 22324d = 5734h
0 40
C02251/1 14 LS_WriteParamList: c236_val1
________________________________________________________________
C02256

C02256 | LS_WriteParamList: Moment of inertia Index: 22319d = 572Fh
0.00 kg cm^2 6000000.00
C02256/1 0.00 kg cm^2 LS_WriteParamList: c273_val1
C02260

C02260 | LS_WriteParamList: Speed sensor selection Index: 22315d = 572Bh
Selection list
0 No sensor
1 Sensor signal FreqIn12
C02260/1 0: No sensor LS_WriteParamList: c495_val1
C02264

C02264 | LS_WriteParamList: Empfindlichkeit Sollwertvorsteuerung Index: 22311d = 5727h
Selection list
0 Inactive
1 15 bits
2 14 bits
3 13 bits
4 12 bits
5 11 Bit
6 10 Bit
7 9 Bit
C02264/1 0: Inactive LS_WriteParamList: C653_s1_val1
________________________________________________________________
C02272

C02272 | LS_WriteParamList: Motor phase direction of rotation Index: 22303d = 571Fh
Selection list
0 not inverted
1 inverted
C02272/1 0: Not inverted LS_WriteParamList: c905_val1
C02273

C02273 | LS_WriteParamList: Speed limitation Index: 22302d = 571Eh
0.00 % 175.00
C02273/1 120.00 % LS_WriteParamList: c909_s1_val1
________________________________________________________________
C02274

C02274 | LS_WriteParamList: Frequency limitation Index: 22301d = 571Dh
0 Hz 1300
C02274/1 1000 Hz LS_WriteParamList: c910_s1_val1
C02275

C02275 | LS_WriteParamList: Motor cable length Index: 22300d = 571Ch
0.0 m 1000.0
C02275/1 5.0 m LS_WriteParamList: c915_val1
C02276

C02276 | LS_WriteParamList: Motor cable cross-section Index: 22299d = 571Bh
0.50 mm^2 100.00
C02276/1 6.00 mm^2 LS_WriteParamList: c916_val1
________________________________________________________________
C02278

C02278 | LS_WriteParamList: PSM: Maximum motor current field weakening Index: 22297d = 5719h
0.00 % 500.00
C02279

C02279 | LS_WriteParamList: Ultimate motor current Index: 22296d = 5718h
0.0 A 3000.0
C02280

C02280 | LS_WriteParamList: Max. motor speed Index: 22295d = 5717h
50 rpm 65000
________________________________________________________________
C02281

C02281 | LS_WriteParamList: VFC: Time const. slip comp. Index: 22294d = 5716h
1 ms 6000
C02284

C02284 | LS_WriteParamList: VFC: limitation V/f +encoder Index: 22291d = 5713h
0.00 Hz 100.00
C02284/1 10.00 Hz LS_WriteParamList: c971_s1_val1
C02285

C02285 | LS_WriteParamList: VFC: Vp V/f +encoder Index: 22290d = 5712h
0.000 Hz/Hz 64.000
C02285/1 0.100 Hz/Hz LS_WriteParamList: c972_val1
________________________________________________________________
C02286

C02286 | LS_WriteParamList: VFC: Ti V/f +encoder Index: 22289d = 5711h
0.0 ms 6000.0
C02287

C02287 | LS_WriteParamList: VFC-ECO: Vp CosPhi controller Index: 22288d = 5710h
0.000 Hz/Hz 64.000
C02288

C02288 | LS_WriteParamList: VFC-ECO: Ti CosPhi controller Index: 22287d = 570Fh
0.0 ms 6000.0
________________________________________________________________
C02289

C02289 | LS_WriteParamList: VFC-ECO: Minimum voltage U/f Index: 22286d = 570Eh
20.00 % 100.00
C02290

C02290 | LS_WriteParamList: VFC-ECO: Voltage reduction ramp Index: 22285d = 570Dh
0.0 s 5.0
C02291

C02291 | LS_WriteParamList: SLVC: Field current controller gain Index: 22284d = 570Ch
0.00 % 20.00
________________________________________________________________
C02292

C02292 | LS_WriteParamList: SLVC: Cross current controller gain Index: 22283d = 570Bh
0.00 % 20.00
C02293

C02293 | LS_WriteParamList: Inverter motor brake: nAdd Index: 22282d = 570Ah
0 rpm 1000
C02294

C02294 | LS_WriteParamList: Inverter motor brake: PT1 filter time Index: 22281d = 5709h
0.0 ms 100.0
________________________________________________________________
C02295

C02295 | LS_WriteParamList: Flying restart fct.: Activation Index: 22280d = 5708h
Selection list
0 Off
1 On
C02295/1 0: Off LS_WriteParamList: c990_val1
C02296

C02296 | LS_WriteParamList: Flying restart fct.: process Index: 22279d = 5707h
Selection list
0 0...+n | Start: +10 Hz
1 -n...0 | Start: -10 Hz
2 -n...+n | Start: +10 Hz
3 -n...+n | Start: -10 Hz
4 -n...+n | Start: Cx992
C02296/1 2: -n...+n | Start: +10 Hz LS_WriteParamList: c991_val1
C02297

C02297 | LS_WriteParamList: Flying restart: Start frequency Index: 22278d = 5706h
-200 Hz 200
________________________________________________________________
C02298

C02298 | LS_WriteParamList: Flying restart fct: Int. time Index: 22277d = 5705h
0.0 ms 6000.0
C02299

C02299 | LS_WriteParamList: Flying restart fct.: Current Index: 22276d = 5704h
0.00 % 100.00
C02300

C02300 | LS_WriteParamList: SLPSM: Controlled current setpoint Index: 22275d = 5703h
5.00 % 400.00
________________________________________________________________
C02301

C02301 | LS_WriteParamList: SLPSM: Switching speed Index: 22274d = 5702h
0.00 % 100.00
C02302

C02302 | LS_WriteParamList: SLPSM: Filter time - rotor position Index: 22273d = 5701h
0.00 % 100.00
C02303

C02303 | LS_WriteParamList: SLPSM: Filter time rotor position Index: 22272d = 5700h
0.5 ms 20.0
________________________________________________________________
C02304

C02304 | LS_WriteParamList: SLPSM: PLL gain Index: 22271d = 56FFh
0 % 1000
C02304/1 400 % LS_WriteParamList: c999_val1
C02305

C02305 | LS_WriteParamList: PSM: Ppp saturation characteristic Index: 22270d = 56FEh
0 % 255
C02305/1 100 % LS_WriteParamList: c2853_s1_val1
________________________________________________________________

C02305 | LS_WriteParamList: PSM: Ppp saturation characteristic Index: 22270d = 56FEh

________________________________________________________________
C02306

C02306 | LS_WriteParamList: PSM: Imax Ppp saturation characteristic Index: 22269d = 56FDh
0.0 A 3000.0
C02307

C02307 | LS_WriteParamList: PSM: Activate Ppp saturation char. Index: 22268d = 56FCh
Selection list
0 Off
1 On
C02307/2 0: Off LS_WriteParamList: c2859_val
C02311

C02311 | LS_WriteParamList: PLI without motion: Adaptation of time duration Index: 22264d = 56F8h
-10 10
C02311/1 0 LS_WriteParamList: c2872_s1_val1
________________________________________________________________
C02312

C02312 | LS_WriteParamList: PLI without motion Index: 22263d = 56F7h
0x0000 0xFFFF
Value is bit-coded:
Bit 0 for SLPSM with controller enable
Bit 1 for SC PSM with mains on
Bit 2 for SC PSM with controller enable
Bit 3 for SC PSM once after fault reset
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C02312/1 0x0001 LS_WriteParamList: c2874_s1_val1
 Read access  Write access  CINH  PLC STOP  No transfer  COM  MOT
C02313

C02313 | LS_WriteParamList: PLI without motion: Adaptation of ident angle Index: 22262d = 56F6h
-100 ° 100
C02313/1 0° LS_WriteParamList: c2875_s1_val1
________________________________________________________________
C02314

C02314 | Reserved Index: 22261d = 56F5h
C02315

C02315 | LS_WriteParamList: Manual entry of motor type Index: 22260d = 56F4h
Selection list
0 Automatic
1 ASM
2 PSM
C02315/1 0: Automatic LS_WriteParamList: c1001_s1_val1
C02580

C02580 | Holding brake: Operating mode Index: 21995d = 55EBh
Selection of the operating mode for holding brake control

0 Brake control off No holding brake is used. Internal control is switched off.
11 Manually controlled The holding brake is released and closed via a control bit
in the MCK control word.
12 Autom. controlled The holding brake is automatically released and closed
via speed setpoint comparisons.
13 Semi-automat. controlled From version 11.00.00
The holding brake is released and closed via a control bit
in the MCK control word.
• In contrast to the manual operation (mode 11)
• the feedforward control is active in this mode,
preventing a sagging e.g. in case of a hoist.
• the brake in this mode also closes when the
controller is inhibited in order to prevent the axis in
a hoist from falling.
________________________________________________________________
C02581

C02581 | Holding brake: Speed thresholds Index: 21994d = 55EAh
Speed setpoint threshold and hysteresis for automatic holding brake control
-199.99 % 199.99
C02581/1 5.00 % Holding brake: Switching threshold
• Switching threshold of the speed setpoint from which
on the holding brake is released/applied
automatically.
C02581/2 1.00 % Holding brake: Hyst.release
• Hysteresis for holding brake release.
• Release threshold = switching threshold + release
hysteresis
C02581/3 1.00 % Holding brake: Hyst. close
• Hysteresis for holding brake application.
• Application threshold = switching threshold -
application hysteresis
C02581/4 0.00 % Holding brake: FF control starting value 1
C02581/5 0.00 % Holding brake: FF control starting value 2
C02582

C02582 | Holding brake: Setting Index: 21993d = 55E9h
Activation of functional holding brake control options

Bit 0  bMBrakeReleaseOut invert. Activation of inverted control
• 1 ≡ Inverted logic of the control signal for the holding
brake control switching element.
Bit 1  Horizontal brake protection Brake response in case of pulse inhibit
• 1 ≡ In the case of a pulse inhibit, the actual speed
value is monitored which must reach the "Close"
threshold value to cause the holding brake to be
applied.
Note:
• This function is only active if bit 3
(horizontal/winding technology) is set as well. The
function is used in order that, when the controller is
inhibited, the holding brake of a drive with horizontal
traverse path does not wear out during rotation.
• With vertical motion (bit 3 = 0), this function is not
active. Especially with hoists and activated pulse
inhibit of the controller, an immediate application of
the brake is essential for safety-related reasons!
________________________________________________________________

C02582 | Holding brake: Setting Index: 21993d = 55E9h
Bit 2  with hoist inv. feedfwd. control Direction of feedforward control with vertical/hoist
technology:
• 0 ≡ Positive direction
• 1 ≡ Negative direction
Note:
Reversal (Ccw) is then considered.
Bit 3  Horizontal application Direction of movement of the axis
• 0 ≡ The axis performs vertical movements.
Gravitational acceleration causes movements.
• 1 ≡ The direction of the axis is horizontal or rotary. The
gravitational acceleration does not cause any
movement.
Bit 4  Feedforward control C2581 From version 11.00.00
Selection of the feedforward control value
• 0 ≡ Automatic selection.
• 1 ≡ Manual selection.
• bMBrakeStartValue2 = FALSE: The feedforward
control value 1 set in C02581/4 is used.
• bMBrakeStartValue2 = TRUE: The feedforward
control value set in C02581/5 is used.
Bit 5  Feedback monitoring From version 11.00.00
Activation of status monitoring
• 1 ≡ The bMBrakeApplied input for status detection of
the brake (via a switching contact at the brake) is
monitored after the waiting time set in C02589/3 has
expired.
Bit 6  SyncRampe L_NSet_1 From version 11.00.00
Selection of the ramp time for the synchronisation
process to setpoint speed after the brake opening time
has elapsed
• 1 ≡ The ramp time of the effective acceleration of the
ramp function generator (L_NSet_1) is used (Lenze
setting).
• 0 ≡ As before, the ramp time set in C02610/1 is used.
Note:
The changeover can be dynamically both via the ramp
parameter and via bit 6.
Bit 7  Reserved
________________________________________________________________
C02589

C02589 | Holding brake: Time system Index: 21986d = 55E2h
Operating times of the holding brake

• The electromechanical delay times of the holding brake are specified in the data sheets or on the holding brake
nameplate.
0 ms 60000
C02589/1 100 ms Holding brake: Application time
• Time in which the holding brake is completely applied
from the beginning of control and in which the
controller is inhibited.
C02589/2 100 ms Holding brake: Release time
• Time in which the holding brake is completely
released from the beginning of control.
C02589/3 100 ms Holding brake: Waiting time status
• Time after which all transient reactions are
completed and the switching status of the holding
brake is stable. Beginning of monitoring the feedback
signal for the switching status of the holding brake.
C02589/4 0 ms Holding brake: Ramp time FF ctrl
C02593

C02593 | Holding brake: Activation time Index: 21982d = 55DEh
Time parameter for the delay of trigger signals of the holding brake control
0.000 s 3600.000
C02593/1 0.000 s Holding brake: Actual value monitoring
• Time in which the actual value is supposed to reach
the threshold for closing the brake if the setpoint has
already reached the threshold.
• Time > 0 s: If the actual speed value has not reached
the threshold within the time for brake application,
the holding brake is applied by control.
• Time = 0 s: The brake is only applied by control when
the actual speed has reached the application
threshold.
C02593/2 0.000 s Holding brake: Application delay
C02593/3 0.000 s Holding brake: Reserved
C02593/4 0.000 s Holding brake: Reserved
________________________________________________________________
C02607

C02607 | Holding brake: Status Index: 21968d = 55D0h
Switching status of the holding brake control

0x0000 0xFFFF
Bit 0 Brake applied 1 ≡ Holding brake is completely closed
Bit 1 Brake released 1 ≡ Holding brake is completely released
Bit 2 Feedforward control active 1 ≡ Feedforward control for holding of the load via the
motor is active before the holding brake releases.
Bit 3 Closing active 1 ≡ The brake closing time (C02589/1) expires
Bit 4 Forced release active 1 ≡ In case of automatic operation of the holding brake
control, the brake is directly released via the MCK input
bMBrakeRelease = TRUE
Bit 5 Release active 1 ≡ The brake release time (C02589/2) expires
Bit 6 Setpoint synchronisation active 1 ≡ A speed setpoint at the MCK is approached along a
defined ramp after brake release
Bit 7 Signalling contact error
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
________________________________________________________________
C02610

C02610 | MCK: Accel./decel. times Index: 21965d = 55CDh
Ramp times for speed setpoint synchronisation

0.000 s 999.999
C02610/1 2.000 s Holding brake: ramp time synchr.
• Ramp time for the synchronisation process to
setpoint speed after the brake opening time has
elapsed
• The setting made here is only effective if bit 6
"SyncRampe L_NSet_1" in C02582 is set to "0".
• In the Lenze setting of C02582 (Bit 6 = "1"), the ramp
time of the effective acceleration of the ramp
function generator (L_NSet_1) is used.
C02610/2 2.000 s MCK: Ramp time synchr. setpoint
• Time for synchronisation ramps between setpoint
jumps occurring through the exceedance of
minimum and maximum speed setpoint limit ranges.
C02610/3 2.000 s MCK: SM stopping ramp
C02611

C02611 | MCK: Limitations Index: 21964d = 55CCh

Speed setpoint limits for the determination of limited validity ranges
Note:
Traversing with setpoints through resulting blocking zones is executed with the ramp set in C02610/2.
Speed Min/Max
0.00 % 199.99
C02611/1 199.99 % MCK: Pos. max. speed
• Upper limit of the speed setpoint limitation in
positive direction of rotation.
C02611/2 0.00 % MCK: Pos. min. speed
• Lower limit of the speed setpoint limitation in
positive direction of rotation.
C02611/3 0.00 % MCK: Neg. min. speed
• Lower limit of the speed setpoint limitation in
negative direction of rotation.
C02611/4 199.99 % MCK: Neg. max. speed
• Upper limit of the speed setpoint limitation in
negative direction of rotation.
C02611/5 0.50 % MCK: Max. speed
• Maximum value for transferring the current speed to
the speed setpoint when the internal operating mode
"StandBy" is exited.
________________________________________________________________
C02830

C02830 | DigInX: Debounce time Index: 21745d = 54F1h
Debounce times for the digital inputs

Selection list
0 0.00 ms
4 1.00 ms
8 2.00 ms
12 3.00 ms
16 4.00 ms
20 5.00 ms
24 6.00 ms
28 7.00 ms
32 8.00 ms
36 9.00 ms
40 10.0 ms
44 11.0 ms
48 12.0 ms
52 13.0 ms
56 14.0 ms
64 16.0 ms
72 18.0 ms
80 20.0 ms
88 22.0 ms
96 24.0 ms
104 26.0 ms
112 28.0 ms
120 30.0 ms
128 32.0 ms
C02830/1 0: 0.00 ms DigIn1: Debounce time
________________________________________________________________
C02840

C02840 | CountIn1: Parameter Index: 21735d = 54E7h

Starting and comparison value for digital counting input
Using DI1 as counting input
0 Incr. 2147483647
C02840/1 0 incr. CountIn1: Starting value
C02840/2 65535 incr. CountIn1: Comparison value
C02841

C02841 | CountIn1: Counter content Index: 21734d = 54E6h

Display of the current counter content of the digital counting input
Using DI1 as counting input
0 Incr. 2147483647
Subcodes Info
C02841/1 CountIn1: Counter content
C02842

C02842 | FreqInxx: Offset Index: 21733d = 54E5h

Offset for digital frequency input
-199.99 % 199.99
C02842/1 0.00 % FreqIn12: Offset
C02843

C02843 | FreqInxx: Gain Index: 21732d = 54E4h

Gain for digital frequency input
-199.99 % 199.99
C02843/1 100.00 % FreqIn12: Gain
________________________________________________________________
C02844

C02844 | FreqIn12: Function Index: 21731d = 54E3h

Selection list
0 Loading with level
1 Loading with edge
2 Loading with level + reset
C02844/1 0: Loading with level FreqIn12: PosIn function
C02845

C02845 | FreqIn12: PosIn comparison value Index: 21730d = 54E2h

0 Incr. 2147418112 0 incr.
________________________________________________________________
C02853

C02853 | PSM: Lss saturation characteristic Index: 21722d = 54DAh

Current-dependent stator leakage inductance Lss(I)
0 % 255
C02853/1 100 % PSM: Lss saturation characteristic
C02855

C02855 | PSM: Imax Lss saturation characteristic Index: 21720d = 54D8h

0.0 A 3000.0 3000.0 A
C02859

C02859 | PSM: Activate Lss saturation char. Index: 21716d = 54D4h

0 Off
1 On
________________________________________________________________
C02864

C02864 | MCTRL: Optimisiations Index: 21711d = 54CFh

Activation of special functions of the internal motor control
0x0000 0xFFFF
Bit 0 Motor temp. 90° for operation 1 ≡ Warm machine. In case the temperature tracking is
without KTY not active, a motor temperature of 90 °C is assumed.
Bit 1 No switch-off of the brake chopper 1 ≡ Limitation of the operating time of the brake chopper
after 4s (brake transistor) is deactivated.
Bit 2 Brake chopper off in case of trip 0 ≡ No response of the brake chopper in the "Fault"
device status.
1 ≡ In the "Fault" device status, the brake chopper is
permanently switched off without any delay.
Bit 3 Reserved (do not change!)
Bit 4 Motor ident: Switching frequency Switching frequency for motor parameter identification:
8kHz 0 ≡ 4 kHz
1 ≡ 8 kHz
Preventing a decrease of the switching frequency
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Suppress V/f emergency operation From version 15.00.00, it is internally switched to the
encoderless V/f characteristic control in case of a motor
control type with feedback and an encoder open circuit
in order to avoid impermissible motor movements.
• In order that this "V/f emergency operation" works
properly, the parameters relevant for the V/f
characteristic control (base frequency, Vmin boost,
slip compensation, etc.) have to be set correctly. As an
alternative, a motor parameter identification can be
executed as well.
• The change-over to "V/f emergency operation" is
reported via bit 4 in C01000 and via the
bWirebreakUfLinearActive status signal at the
SB LS_DeviceMonitor.
• The setting in C00006 is not affected by the change-
over.
The "V/f emergency operation" can be suppressed by
setting bit 8 to "1".
0 ≡ V/f emergency operation in case of encoder open
circuit
1 ≡ No V/f emergency operation in case of encoder open
circuit
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
________________________________________________________________

C02864 | MCTRL: Optimisiations Index: 21711d = 54CFh

C02864/1 0x0000 MCTRL: Optimisations
C02865

C02865 | MCTRL: Special settings Index: 21710d = 54CEh

0x0000 0xFFFF
Bit 0 No TorqueLimit if TorquemodeOn From version 12.00.00 onwards: If sensorless vector
control (SLVC) is used, in the "torque control with speed
limitation", mode the torque limitation via
nTorqueMotLimit_a and nTorqueGenLimit_a is also
active to limit the torque setpoint.
If you want to deactivate the torque limitation to retain
the former function, set bit 0 to "1".
0 ≡ Torque limitation is active
1 ≡ Torque limitation is not active
Bit 1 250ms IMP before DCB
Bit 2 1000ms IMP before DCB
Bit 3 DCB: Current controller and C036
app. to C088
Bit 4 Motorident.: No calculation C73 C75 From version 12.00.00 onwards: Following successful
C76 C77 C78 motor parameter identification, the current controller
and field controller parameters are calculated as well.
If these parameters are not to be calculated, bit 4 must
be set to "1".
0 ≡ Calculate parameter
1 ≡ Do not calculate parameter
Bit 5 Motorident.: Calculation C70 C71 From version 12.00.00 onwards: Following successful
C72 motor parameter identification, the speed controller
parameters can automatically be calculated as well.
If these parameters are to be calculated, bit 5 must be set
to "1".
Bit 6 Motorident.: Calculation C11 C22 From version 12.00.00 onwards: Following successful
C497 C966 C982 motor parameter identification, further controller
parameters can be calculated automatically.
If these parameters are to be calculated, bit 6 must be set
to "1".
Bit 7 Brake chopper off in case of pulse From version 14.00.00
inhibit 0 ≡ No response of the brake chopper in case of pulse
inhibit.
1 ≡ In case of pulse inhibit, the brake chopper is
permanently switched off without any delay.
________________________________________________________________

C02865 | MCTRL: Special settings Index: 21710d = 54CEh
Bit 8 DC-bus supply with DC charging

connection
Bit 9 Inverter characteristics inactive From version 12.00.00
In case of very low-inductance motors (e.g. synchronous
motor with a rated frequency of 1000 Hz) the inverter
error characteristic needs to be switched off as otherwise
the current of the device might be switched off.
0 ≡ Inverter error characteristic is active
1 ≡ Inverter error characteristic is not active
Bit 10 SCPSM: Extrapolation - actual speed
value inactive
Bit 11 TopLine: Speed encoder signal cycle
500us
Bit 12 In case of QSP - nTorqueSetValue_a From version 13.00.00
active
Bit 13 In case of QSP - nTorquexxxLimit_a From version 13.00.00
active
Bit 14 Sensitivity of setpoint feedf. ctrl. 16 From version 14.00.00
bits
Bit 15 SC: Dead time of speed setpoint From version 14.00.00
500us
C02865/1 0x0000 MCTRL: Special settings
C02866

C02866 | MCTRL: Special settings Index: 21709d = 54CDh

Selection list
0 No
1 Yes
C02866/1 1: Yes Motor ident.: Current controller par. from C075 C076
C02866/2 0: No Motor phase error monitoring before operation
Motor phase error monitoring before operation
C02866/3 0: No Brake chopper DC-bus slave
Control of multiple internal brake choppers in the DC-
bus system
________________________________________________________________
C02867

C02867 - Identification procedure Index: 21708d = 54CCh

Selection of the identification procedure for motor parameter identification
Automatic motor parameter identification
Selection list Info
0 automatic Automatic selection of the optimum identification
procedure:
• For synchronous motors, the extended identification
procedure is always used.
• For asynchronous motors with a rated motor power
of up to 11 kW, the basic identification procedure is
used.
• For asynchronous motors with a rated motor power
of more than 11 kW, the extended identification
procedure is used.
1 standard identification • Only for asynchronous motors.
2 extended identification • Stands out due to increased accuracy of the
determined motor parameters.
• Also supports synchronous motors and asynchronous
motors with a power of more than 11 kW.
C02867/1 0: automatic Motor parameter identification: Process
C02870

C02870 | PLI without motion: Optimisation factor Index: 21705d = 54C9h

0.00 % 300.00
Subcodes Info
C02870/1 PLI without motion: Optimisation factor
C02871

C02871 | PLI without motion: Running time Index: 21704d = 54C8h

0.00 ms 300.00
Subcodes Info
C02871/1 PLI without motion: Running time
________________________________________________________________
C02872

C02872 | PLI without motion: Adaptation of time duration Index: 21703d = 54C7h

-10 10
C02872/1 0 PLI without motion: Adaptation of time duration
C02873

C02873 | PLI without motion: Ident. el. rotor displ. angle Index: 21702d = 54C6h

0 ° 360
Subcodes Info
C02873/1 PLI without motion: Ident. el. rotor displ. angle
________________________________________________________________
C02874

C02874 | PLI without motion Index: 21701d = 54C5h

0x0000 0xFFFF
Value is bit-coded:
Bit 0 for SLPSM with controller enable
Bit 1 for SC PSM with mains on
Bit 2 for SC PSM with controller enable
Bit 3 for SC PSM once after fault reset
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C02874/1 0x0001 PLI without motion
C02875

C02875 | PLI without motion: Adaptation of ident angle Index: 21700d = 54C4h

-100 ° 100
C02875/1 0° PLI without motion: Adaptation of ident angle
________________________________________________________________
C02879

C02879 | Slip calculation from equivalent circuit diagram Index: 21696d = 54C0h

In order to achieve a better speed stability and torque accuracy, the slip calculation can be either derived from the
motor nameplate data (e.g. rated motor speed) or the motor equivalent circuit diagram data (stator resistance, rotor
resistance etc.).
Slip calculation
0x0000 0xFFFF
Value is bit-coded:
Bit 0 SLVC
Bit 1 Reserved
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
C02879/1 0x0000 Slip calculation from equivalent circuit diagram
C02993

C02993 | FB xy position Index: 21582d = 544Eh
C02994

C02994 | FB xy position Index: 21581d = 544Dh
C02995

C02995 | FB display InputOutput Index: 21580d = 544Ch
________________________________________________________________
C02998

C02998 | FB displayinputoutput3 Index: 21577d = 5449h
15.3 Selection list - analog signals
________________________________________________________________
This selection list is relevant for the following Selection list - analog signals
configuration parameters:
16000 LS_AnalogInput: nIn1_a
Parameter 16002 LP_CanIn1: wCtrl
C00410 L_SignalMonitor_a: Signal sources 16003 LP_CanIn1: wIn2
C00620 System connection list: 16-bit 16004 LP_CanIn1: wIn3
C00700 LA_NCtrl: Analog connection list 16005 LP_CanIn1: wIn4
C00760 LA_SwitchPos: Analog connection list 16006 LP_CanIn2: wIn1

16007 LP_CanIn2: wIn2
Selection list - analog signals
0 Not connected
1000 LA_NCtrl: wDriveControlStatus
1001 LA_NCtrl: wFailNumber
1002 LA_NCtrl: nMotorCurrent_a
1003 LA_NCtrl: nMotorSpeedAct_a
16014 LS_DigitalInput: wCountIn1_LW
1006 LA_NCtrl: nGPAnalogSwitchOut_a
16015 LS_DigitalInput: wCountIn1_HW
1007 LA_NCtrl: nGPArithmetikOut_a
16016 LS_DigitalInput: nFreqIn12_a
1008 LA_NCtrl: nGPMulDivOut_a
16017 LS_DigitalInput: nFreqIn12_v
1009 LA_NCtrl: nGPSignalOut1_a
16100 LS_DataAccess: wOut1
1013 LA_NCtrl: nMotorTorqueAct_a
16104 LP_MciIn:wCtrl
1014 LA_NCtrl: nDCVoltage_a
16105 LP_MciIn: wIn2
1015 LA_NCtrl: nMotorVoltage_a
1016 LA_NCtrl: nMotorSpeedSet_a
1017 LA_NCtrl: wFailTypeDomain
1023 LA_NCtrl: wFreeOut1
1200 LA_SwitchPos: wDriveControlStatus
1201 LA_SwitchPos: wFailNoLow
1202 LA_SwitchPos: wFailNoHigh
1203 LA_SwitchPos: nMotorCurrent_a
1204 LA_SwitchPos: nMotorSpeedSet_a
1205 LA_SwitchPos: nMotorSpeedAct_a
1206 LA_SwitchPos: nMotorTorqueAct_a
1207 LA_SwitchPos: nDCVoltage_a
16120 LS_Keypad: nTorqueMotLim_a
1208 LA_SwitchPos: nMotorVoltage_a
16121 LS_Keypad: nTorqueGenLim_a
1209 LA_SwitchPos: nGPAnalogSwitchOut_a
16122 LS_Keypad: nMainSetValue_a
1210 LA_SwitchPos: nGPArithmetikOut_a
16123 LS_CANManagement: wNodeID
1211 LA_SwitchPos: nGPMulDivOut_a
16130 LS_ParReadWrite_1: wOutHWord
1212 LA_SwitchPos: nGPSignalOut1_a
16131 LS_ParReadWrite_1: wOutLWord
1221 LA_SwitchPos: wFreeOut1
________________________________________________________________
Selection list - analog signals Selection list - analog signals

16363 LP_CanIn4: wIn4 32203 LS_MotionControlKernel: nTorqueSetValue_a
20000 LS_ParFix: nPos100_a 32204 LS_MotionControlKernel: wActProfileNo
20001 LS_ParFix: nNeg100_a 32205 LS_MotionControlKernel: wFollowProfileNo
20002 LS_ParFix: nPos199_99_a 32206 LS_MotionControlKernel: wMotionState1
20003 LS_ParFix: nNeg199_99_a 32207 LS_MotionControlKernel: wMotionState2
20004 LS_ParFix: w65535 32208 LS_MotionControlKernel: wAuxState
20005 LS_ParFix: wDriveCtrl 32209 LS_MotionControlKernel: nPWMAngleOffset
20010 LS_ParFree_a: nC472_1_a 32210 LS_MotionControlKernel: nTorqueLimitAdapt_a
20011 LS_ParFree_a: nC472_2_a 32211 Reserved: a32211
20012 LS_ParFree_a: nC472_3_a 34900 MCTRL: OszCh1
20013 LS_ParFree_a: nC472_4_a 34901 MCTRL: OszCh2
20018 LS_ParFree_v: nC473_1_v 34902 MCTRL: OszCh3
20019 LS_ParFree_v: nC473_2_v 34903 MCTRL: OszCh4
20020 LS_ParFree_v: nC473_3_v 34904 MCTRL: Status1
20021 LS_ParFree_v: nC473_4_v 34905 MCTRL: Status2
20026 LS_ParFree: wC471_1 34906 MCTRL: Status3
20027 LS_ParFree: wC471_2 34907 LS_DeviceMonitor: wUB_24V
20028 LS_ParFree: wC471_3 36000 L_Absolut_1: nOut_a
20029 LS_ParFree: wC471_4 36001 L_AddSub_1: nOut_a
32000 LS_MotorInterface: nMotorSpeedAct_a 36002 L_OffsetGain_1: nOut_a
32001 LS_MotorInterface: nOutputSpeedCtrl_a 36003 L_OffsetGain_2: nOut_a
32002 LS_MotorInterface: nInputJerkCtrl_a 36004 L_OffsetGainP_1: nOut_a
32003 LS_MotorInterface: nInputTorqueCtrl_a 36005 L_OffsetGainP_2: nOut_a
32004 LS_MotorInterface: nMotorTorqueAct_a 36006 L_GainOffset_1: nOut_a
32005 LS_MotorInterface: nActualFluxx_a 36007 L_GainOffset_2: nOut_a
32006 LS_MotorInterface: nDCVoltage_a 36010 L_Negation_1: nOut_a
32007 LS_MotorInterface: nStatorCurrentIS_a 36011 L_Arithmetik_1: nOut_a
32008 LS_MotorInterface: nEffCurrentIq_a 36012 L_Arithmetik_2: nOut_a
32009 LS_MotorInterface: nReaktCurrentId_a 36013 L_AnalogSwitch_1: nOut_a
32010 LS_MotorInterface: wMaxMotorSpeed 36014 L_AnalogSwitch_2: nOut_a
32011 LS_MotorInterface: wMaxMotorTorque 36015 L_AnalogSwitch_3: nOut_a
32012 LS_MotorInterface: nMotorVoltage_a 36018 L_NSet_1: nOut
32013 LS_MotorInterface: nMotorFreqAct_a 36019 L_MPot_1: nOut_a
32014 LS_MotorInterface: nEffSpeedSetValue_a 36020 L_PCTRL_1: nOut_a
32015 LS_DeviceMonitor_MCTRL: nIxTRate_a 36021 L_SignalMonitor_a: nOut1_a
32016 LS_DeviceMonitor_MCTRL: nI2xTRate_a 36022 L_SignalMonitor_a: nOut2_a
32017 LS_MotorInterface: nOutputPosCtrl_a 36023 L_NLim_1: nOut_a
32018 LS_MotorInterface: nHlgSetValue_a 36025 L_OffsetGainP_3: nOut_a
32019 LS_MotorInterface: nMotorSpeedAct_v 36027 L_SignalMonitor_a: nOut3_a
32020 LS_MotorInterface: nSpeedCtrlIAct_a 36028 L_SignalMonitor_a: nOut4_a
32021 LS_MotorInterface: nVoltageAngleAct_a 36029 L_MulDiv_1: nOut_a
32022 LS_DeviceMonitor_MCTRL: nActiveOuputPower_a 36030 L_NLim_1: wState
32023 LS_DeviceMonitor_MCTRL: nApparentOuputPower_a 36031 L_NSet_1: wState
32024 LS_DeviceMonitor_MCTRL: nMctrlCosinePhiAct_a 36032 L_NSet_1: nSetValue
32100 LS_DriveInterface: wDeviceStateWord 36033 L_PT1_1: nOut_a
32101 LS_DriveInterface: wDeviceAuxStateWord 36091 L_PCTRL_1: nPIDOut1_a
32102 LS_DriveInterface: wDetermFailNoLow 36092 L_PCTRL_1: nPIDOut2_a
32103 LS_DriveInterface: wDetermFailNoHigh 36093 L_PCTRL_1: nInfluenceOut_a
32104 LS_DriveInterface: wDetermFailNoShort 36095 L_Interpolator_1: nPhdOut_v
32200 LS_MotionControlKernel: nSpeedSet_v 36096 L_Interpolator_1: nNOut_a
32201 LS_MotionControlKernel: nSpeedCtrlI_a 42000 LA_NCtrl_In: wCANDriveControl
32202 LS_MotionControlKernel: nSpeedSetValue_a 42001 LA_NCtrl_In: wCCMDriveControl
________________________________________________________________
Selection list - analog signals

42002 LA_NCtrl_In: nTorqueMotLim
42003 LA_NCtrl_In: nTorqueGenLim
42004 LA_NCtrl_In: nPIDVpAdapt_a
42005 LA_NCtrl_In: nPIDActValue_a
42006 LA_NCtrl_In: nMainSetValue
42007 LA_NCtrl_In: nAuxSetValue
42008 LA_NCtrl_In: nGPAnalogSwitchIn1_a
42009 LA_NCtrl_In: nGPAnalogSwitchIn2_a
42010 LA_NCtrl_In: nGPArithmetikIn1_a
42011 LA_NCtrl_In: nGPArithmetikIn2_a
42012 LA_NCtrl_In: nGPMulDivIn_a
42013 LA_NCtrl_In: nGPCompareIn1_a
42014 LA_NCtrl_In: nGPCompareIn2_a
42015 LA_NCtrl_In: nVoltageAdd_a
42016 LA_NCtrl_In: nPIDInfluence_a
42017 LA_NCtrl_In: nPIDSetValue_a
42018 LA_NCtrl_In: nPWMAngleOffset
42019 LA_NCtrl_In: nBoost_a
42020 LA_NCtrl_In: wSMControl
42025 LA_NCtrl_In: wFreeIn1
42200 LA_SwitchPos_In: wCANDriveControl
42201 LA_SwitchPos_In: wMCIDriveControl
42202 LA_SwitchPos_In: nVoltageAdd_a
42203 LA_SwitchPos_In: nBoost_a
42204 LA_SwitchPos_In: nPWMAngleOffset
42205 LA_SwitchPos_In: nTorqueMotLim_a
42206 LA_SwitchPos_In: nTorqueGenLim_a
42207 LA_SwitchPos_In: nMainSetValue_a
42208 LA_SwitchPos_In: nAuxSetValue_a
42209 LA_SwitchPos_In: nGPAnalogSwitchIn1_a
42210 LA_SwitchPos_In: nGPAnalogSwitchIn2_a
42211 LA_SwitchPos_In: nGPArithmetikIn1_a
42212 LA_SwitchPos_In: nGPArithmetikIn2_a
42213 LA_SwitchPos_In: nGPMulDivIn_a
42214 LA_SwitchPos_In: nGPCompareIn1_a
42215 LA_SwitchPos_In: nGPCompareIn2_a
42216 LA_SwitchPos_In: wSMControl
42221 LA_SwitchPos_In: wFreeIn1
15.4 Selection list - digital signals
________________________________________________________________
This selection list is relevant for the following Selection list - digital signals
1210 LA_SwitchPos: bSpeedSetReached
Parameter 1211 LA_SwitchPos: bSpeedActEqSet
C00411 L_SignalMonitor_b: Signal sources 1212 LA_SwitchPos: bBrakeReleaseOut
C00621 System connection list: Bool 1213 LA_SwitchPos: bBrakeReleased
C00701 LA_NCtrl: Digital connection list 1214 LA_SwitchPos: bGPDigitalDelayOut
C00761 LA_SwitchPos: Digital connection list 1215 LA_SwitchPos: bGPLogicOut

1216 LA_SwitchPos: bGPCompareOut
1217 LA_SwitchPos: bGPDFlipFlop_Out
Selection list - digital signals
1218 LA_SwitchPos: bGPDFlipFlop_NegOut
0 Not connected
1219 LA_SwitchPos: bGPSignalOut1
1000 LA_NCtrl: bDriveReady
1001 LA_NCtrl: bDriveFail
1002 LA_NCtrl: bCInhActive
1003 LA_NCtrl: bQSPIsActive
1228 LA_SwitchPos: bFreeOut1
1004 LA_NCtrl: bSpeedCcw
1005 LA_NCtrl: bSpeedActCompare
1008 LA_NCtrl: bGPDigitalDelayOut
1009 LA_NCtrl: bGPLogicOut
1010 LA_NCtrl: bGPSignalOut1
16000 LS_DigitalInput: bIn1
1014 LA_NCtrl: bOverLoadActive
1015 LA_NCtrl: bMBrakeReleaseOut
1016 LA_NCtrl: bMBrakeReleased
1017 LA_NCtrl: bGPCompareOut
16008 LS_DigitalInput: bCInh
1018 LA_NCtrl: bUnderLoadActive
16009 LS_DigitalInput: bCountIn1_Compare
1019 LA_NCtrl: bImaxActive
16011 LS_AnalogInput: bCurrentErrorIn1
1020 LA_NCtrl: bSpeedSetReached
16013 LP_CanIn1: bCtrl1_B0
1021 LA_NCtrl: bSpeedActEqSet
1022 LA_NCtrl: bGPDFlipFlopOut
1023 LA_NCtrl: bGPDFlipFlopNegOut
1029 LA_NCtrl: bFreeOut1
1200 LA_SwitchPos: bDriveFail
1201 LA_SwitchPos: bWarningActive
1202 LA_SwitchPos: bSafeTorqueOff
1203 LA_SwitchPos: bDriveReady
1204 LA_SwitchPos: bCInhActive
16029 LP_CanIn2: bIn1_B0
1205 LA_SwitchPos: bImpIsActive
1206 LA_SwitchPos: bQSPIsActive
1207 LA_SwitchPos: bSpeedCcw
1208 LA_SwitchPos: bSpeedActCompare
1209 LA_SwitchPos: bImaxActive
________________________________________________________________
Selection list - digital signals Selection list - digital signals

16035 LP_CanIn2: bIn1_B6 16087 LP_MciIn: bIn2_B10
16041 LP_CanIn2: bIn1_B12 16093 LS_Keypad: bSetQuickstop
16042 LP_CanIn2: bIn1_B13 16094 LS_Keypad: bSetDCBrake
16043 LP_CanIn2: bIn1_B14 16095 LS_Keypad: bSetSpeedCcw
16044 LP_CanIn2: bIn1_B15 16096 LS_Keypad: bJogSpeed1
16045 LP_CanIn3: bIn1_B0 16097 LS_Keypad: bJogSpeed2
16046 LP_CanIn3: bIn1_B1 16098 LS_Keypad: bMPotEnable
16047 LP_CanIn3: bIn1_B2 16099 LS_Keypad: bMPotUp
16048 LP_CanIn3: bIn1_B3 16100 LS_Keypad: bMPotDown
16049 LP_CanIn3: bIn1_B4 16101 LS_DigitalInput: bPosIn12_State
16050 LP_CanIn3: bIn1_B5 16110 LS_ParReadWrite_1: bDone
16051 LP_CanIn3: bIn1_B6 16111 LS_ParReadWrite_1: bFail
16056 LP_CanIn3: bIn1_B11 16122 LS_WriteParamList: bDone
16057 LP_CanIn3: bIn1_B12 16123 LS_WriteParamList: bFail
16058 LP_CanIn3: bIn1_B13 16161 LS_CANManagement: bFail
16059 LP_CanIn3: bIn1_B14 16162 LS_CANManagement: bOperational
16060 LP_CanIn3: bIn1_B15 16200 LS_SyncManagement: bSyncSignalOK
16061 LP_MciIn: bCtrl_B0 16201 LS_SyncManagement: bSyncPhaseOK
16062 LP_MciIn: bCtrl_B1 16400 LP_CanIn4: bIn1_B0
16077 LP_MciIn: bIn2_B0 16415 LP_CanIn4: bIn1_B15
16078 LP_MciIn: bIn2_B1 20000 LS_ParFix: bTrue
16079 LP_MciIn: bIn2_B2 20001 LS_ParFree_b: bC470_1
________________________________________________________________

20009 LS_ParFree_b: bC470_9 32100 LS_DriveInterface: bInit
20010 LS_ParFree_b: bC470_10 32101 LS_DriveInterface: bReady
20011 LS_ParFree_b: bC470_11 32102 LS_DriveInterface: bReadyToSwitchOn
20012 LS_ParFree_b: bC470_12 32103 LS_DriveInterface: bOperationEnable
20013 LS_ParFree_b: bC470_13 32104 LS_DriveInterface: bWarning
20014 LS_ParFree_b: bC470_14 32105 LS_DriveInterface: bTrouble
20015 LS_ParFree_b: bC470_15 32106 LS_DriveInterface: bFail
20016 LS_ParFree_b: bC470_16 32107 LS_DriveInterface: bCollectedFail
20033 LS_PulseGenerator: b100Hz 32108 LS_DriveInterface: bSafeTorqueOff
20034 LS_PulseGenerator: b10Hz 32109 LS_DriveInterface: bIMPIsActive
20035 LS_PulseGenerator: b2Hz 32110 LS_DriveInterface: bCINHIsActive
20036 LS_PulseGenerator: b1Hz 32111 LS_DriveInterface: bSafetyIsActive
20037 LS_PulseGenerator: b1HzFlash 32112 LS_DriveInterface: bCwCcw
20038 LS_PulseGenerator: b2HzFlash 32113 LS_DriveInterface: bNactCompare
20039 LS_PulseGenerator: bSingleFlash1 32200 LS_MotionControlKernel: bPosCtrlOn
20040 LS_PulseGenerator: bSingleFlash2 32201 LS_MotionControlKernel: bSpeedCtrlIOn
20041 LS_PulseGenerator: bDoubleFlash 32202 LS_MotionControlKernel: bTorquemodeOn
20042 LS_PulseGenerator: bSquareWave 32203 LS_MotionControlKernel: bDcBrakeOn
20043 LS_PulseGenerator: bFirstCycle 32204 LS_MotionControlKernel: bBrkReleaseOut
32000 LS_DeviceMonitor_MCTRL: bFanFault 32205 LS_MotionControlKernel: bBrkReleased
32001 LS_DeviceMonitor_MCTRL: bHeatSinkTemp 32206 LS_MotionControlKernel: bDeltaPosOn
32002 LS_MotorInterface: bLimPosCtrlOut 32207 LS_MotionControlKernel: bPosDerivativeOn
32003 LS_MotorInterface: bLimSpeedCtrlOut 32208 LS_MotionControlKernel: bMotorRefOffsetOn
32004 LS_MotorInterface: bLimSpeedSetVal 32209 LS_MotionControlKernel: bQspOn
32005 LS_MotorInterface: bLimTorqueSetVal 32210 LS_MotionControlKernel: bPosBusy
32006 LS_MotorInterface: bLimCurrentSetVal 32211 LS_MotionControlKernel: bPosDone
32007 LS_DeviceMonitor_MCTRL: bUVDetected 32212 LS_MotionControlKernel: bHomDone
32008 LS_DeviceMonitor_MCTRL: bOVDetected 32213 LS_MotionControlKernel: bHomAvailable
32009 LS_DeviceMonitor_MCTRL: bMotorPhaseFault 32214 LS_MotionControlKernel: bTorqueLimitAdaptOn
32010 LS_DeviceMonitor_MCTRL: bEncoderComFault 32215 Reserved: b32215
32011 LS_DeviceMonitor_MCTRL: bIxtOverload 32216 Reserved: b32216
32012 LS_DeviceMonitor_MCTRL: bI2xtOverload 32217 Reserved: b32217
32013 LS_MotorInterface: bIdentificationActive 32218 Reserved: b32218
32014 LS_MotorInterface: bFlyingSyncActive 32219 LS_MotionControlKernel: bFollowErrLim1
32015 LS_DeviceMonitor_MCTRL: bTorqueMax 32220 LS_MotionControlKernel: bFollowErrLim2
32016 LS_DeviceMonitor_MCTRL: bNMax 36000 L_And_1: bOut
32017 LS_DeviceMonitor_MCTRL: bFChopReduced 36001 L_And_2: bOut
32018 LS_DeviceMonitor_MCTRL: bMotorPTC 36002 L_And_3: bOut
32019 LS_DeviceMonitor_MCTRL: bMotorTemp 36003 L_Or_1: bOut
32020 LS_MotorInterface: bDcbActive 36004 L_Or_2: bOut
32021 LS_DeviceMonitor_MCTRL: bBrakeChopperFault 36005 L_Or_3: bOut
32022 LS_MotorInterface: bQspIsActive 36006 L_Not_1: bOut
32023 LS_MotorInterface: bHlgLoad 36007 L_Not_2: bOut
32024 LS_MotorInterface: bHlgStop 36008 L_Not_3: bOut
32025 LS_DeviceMonitor_MCTRL: bImpActive 36009 L_DFlipFlop_1: bOut
32026 LS_DeviceMonitor_MCTRL: bClampActive 36010 L_RLQ_1: bQsp
32027 LS_DeviceMonitor_MCTRL: bMainsFault 36011 L_RLQ_1: CwCcw
32028 LS_DeviceMonitor_MCTRL: bNmaxForFChop 36012 L_DigitalDelay_1: bOut
32029 LS_DeviceMonitor_MCTRL: bShortCircuit 36013 L_Compare_1: bOut
32030 LS_DeviceMonitor_MCTRL: bEarthFault 36014 L_Compare_2: bOut
32031 LS_DeviceMonitor_MCTRL: 36015 L_Compare_3: bOut
bWirebreakUfLinearActive
36016 L_NSet_1: bRfgEq0
________________________________________________________________

36017 L_DigitalLogic_1: bOut 42035 LA_NCtrl_In: bRLQCcw
36019 L_SignalMonitor_b: bOut1 42041 LA_NCtrl_In: bFreeIn1
36023 L_PCTRL_1: bActEqSet 42045 LA_NCtrl_In: bFreeIn5
36024 L_NLim_1: bLimitActive 42046 LA_NCtrl_In: bFreeIn6
36025 L_DFlipFlop_1: bNegOut 42047 LA_NCtrl_In: bFreeIn7
36039 L_Or_4: bOut 42048 LA_NCtrl_In: bFreeIn8
36040 L_DigitalLogic_3: bOut 42200 LA_SwitchPos_In: bCInh
36131 L_JogCtrlExtension_1: bRfgOut 42201 LA_SwitchPos_In: bFailReset
36132 L_JogCtrlExtension_1: bJog1Out 42202 LA_SwitchPos_In: bSetQuickstop
36133 L_JogCtrlExtension_1: bJog2Out 42203 LA_SwitchPos_In: bSetDCBrake
36135 L_Interpolator_1: bIPulse 42204 LA_SwitchPos_In: bRFG_Stop
36136 L_Interpolator_1: bSignalError 42205 LA_SwitchPos_In: bSetSpeedCcw
36138 L_Transient_1: bOut 42206 LA_SwitchPos_In: bRLQCw
36139 L_Transient_2: bOut 42207 LA_SwitchPos_In: bRLQCcw
36140 L_Transient_3: bOut 42208 LA_SwitchPos_In: bJogCtrlInputSel1
36141 L_Transient_4: bOut 42209 LA_SwitchPos_In: bJogCtrlInputSel2
42000 LA_NCtrl_In: bCInh 42210 LA_SwitchPos_In: bJogCtrlRfgIn
42001 LA_NCtrl_In: bFailReset 42211 LA_SwitchPos_In: bJogCtrlJog1
42002 LA_NCtrl_In: bSetQuickstop 42212 LA_SwitchPos_In: bJogCtrlJog2
42003 LA_NCtrl_In: bSetDCBrake 42213 LA_SwitchPos_In: bJogCtrlSlowDown1
42004 LA_NCtrl_In: bRFG_Stop 42214 LA_SwitchPos_In: bJogCtrlStop1
42005 LA_NCtrl_In: bRFG_0 42215 LA_SwitchPos_In: bJogCtrlSlowDown2
42007 LA_NCtrl_In: bSetSpeedCcw 42216 LA_SwitchPos_In: bJogCtrlStop2
42008 LA_NCtrl_In: bJogSpeed1 42217 LA_SwitchPos_In: bJogCtrlSlowDown3
42009 LA_NCtrl_In: bJogSpeed2 42218 LA_SwitchPos_In: bJogCtrlStop3
42010 LA_NCtrl_In: bJogSpeed4 42219 LA_SwitchPos_In: bJogSpeed4
42011 LA_NCtrl_In: bJogSpeed8 42220 LA_SwitchPos_In: bJogSpeed8
42012 LA_NCtrl_In: bJogRamp1 42221 LA_SwitchPos_In: bJogRamp1
42017 LA_NCtrl_In: bMPOTInAct 42225 LA_SwitchPos_In: bMBrakeRelease
42018 LA_NCtrl_In: bMPOTUp 42226 LA_SwitchPos_In: bGPAnalogSwitchSet
42019 LA_NCtrl_In: bMPOTDown 42227 LA_SwitchPos_In: bGPDigitalDelayIn
42020 LA_NCtrl_In: bMBRKRelease 42228 LA_SwitchPos_In: bGPLogicIn1
42021 LA_NCtrl_In: bGPFree1 42229 LA_SwitchPos_In: bGPLogicIn2
42022 LA_NCtrl_In: bGPFree2 42230 LA_SwitchPos_In: bGPLogicIn3
42023 LA_NCtrl_In: bGPAnalogSwitchSet 42231 LA_SwitchPos_In: bGPDFlipFlop_InD
42024 LA_NCtrl_In: bGPDigitalDelayIn 42232 LA_SwitchPos_In: bGPDFlipFlop_InClk
42025 LA_NCtrl_In: bGPLogicIn1 42233 LA_SwitchPos_In: bGPDFlipFlop_InClr
42026 LA_NCtrl_In: bGPLogicIn2 42239 LA_SwitchPos_In: bFreeIn1
42027 LA_NCtrl_In: bGPLogicIn3 42240 LA_SwitchPos_In: bFreeIn2
42028 LA_NCtrl_In: bGPDFlipFlopInD 42241 LA_SwitchPos_In: bFreeIn3
42029 LA_NCtrl_In: bGPDFlipFlopInClk 42242 LA_SwitchPos_In: bFreeIn4
42030 LA_NCtrl_In: bGPDFlipFlopInClr 42243 LA_SwitchPos_In: bFreeIn5
42031 LA_NCtrl_In: bMPotEnable 42244 LA_SwitchPos_In: bFreeIn6
42032 LA_NCtrl_In: bPIDEnableInfluenceRamp 42245 LA_SwitchPos_In: bFreeIn7
42033 LA_NCtrl_In: bPIDIOff 42246 LA_SwitchPos_In: bFreeIn8
42034 LA_NCtrl_In: bRLQCw
________________________________________________________________
Selection list - digital signals

42247 LS_MotorInterface: bBrakeChopperActive
42248 LS_MotorInterface: bLimSpeedTorquemodeOn
15.5 Selection list - angle signals
________________________________________________________________
15.5 Selection list - angle signals
This selection list is relevant for the following

Parameter
C00622 System connection list: Angle
Selection list - angle signals

0 Not connected
1005 LA_NCtrl: dnFreeOut1_p
1006 LA_NCtrl: dnFreeOut2_p
1205 LA_SwitchPos: dnFreeOut1_p
1206 LA_SwitchPos: dnFreeOut2_p
16000 LP_CanIn1: dnIn34_p
16003 LP_MciIn: dnIn34_p
17020 LS_DigitalInput: dnPosIn12_p
20000 LS_ParFree_p: dnC474_1_p
32000 LS_MotorInterface: dnMotorPosAct_p
32001 LS_MotorInterface: dnMotorDeltaPosAct_p
32200 LS_MotionControlKernel: dnPosTarget_p
32201 LS_MotionControlKernel: dnPosSetValue_p
32202 LS_MotionControlKernel: dnDeltaPos_p
32203 LS_MotionControlKernel: dnMotorRefOffset_p
32204 LS_MotionControlKernel: dnPosSet_p
32205 LS_MotionControlKernel: dnPosSetRelative_p
36080 L_Interpolator_1: dnPhiOut_p
42005 LA_NCtrl_In: dnFreeIn1_p
42006 LA_NCtrl_In: dnFreeIn2_p
42205 LA_SwitchPos_In: dnFreeIn1_p
42206 LA_SwitchPos_In: dnFreeIn2_p
15.6 Table of attributes
________________________________________________________________
The table of attributes contains information required for a communication with the controller via
parameters.
How to read the table of attributes:
Column Meaning Entry

Code Parameter name Cxxxxx
Name Parameter short text (display text) Text
Type Parameter type Selection list Value from selection list
Bit coded Bit-coded value
Linear value Value with setting range
String String of digits
Index dec Index under which the parameter is addressed. 24575 - Lenze code number Is only required for access via a bus
The subindex for array variables corresponds to the system.
hex Lenze subcode number. 5FFFh - Lenze code number
Data DS Data structure E Single variable

(only one parameter element)
A Array variable
(several parameter elements)
DA Number of array elements (subcodes) Number
DT Data type INTEGER_16 2 bytes with sign
INTEGER_32 4 bytes with sign
UNSIGNED_8 1 byte without sign
UNSIGNED_16 2 bytes without sign
UNSIGNED_32 4 bytes without sign
VISIBLE_STRING [xx] ASCII string (with character length xx)
Factor Factor for data transmission via a bus system, Factor 1 ≡ no decimal positions
depending on the number of decimal positions 10 ≡ 1 decimal position
100 ≡ 2 decimal positions
CINH Writing is only possible if the controller is inhibited CINH
Code Name Type Index Data

dec hex DS DA DT Factor CINH
C00001 Keypad UserLevel Selection list 24574 5FFE A 1 UNSIGNED_8 1
C00002 Device commands Selection list 24573 5FFD A 33 UNSIGNED_8 1
C00003 Status of the last device command Selection list 24572 5FFC E 1 UNSIGNED_8 1
C00005 Application Selection list 24570 5FFA E 1 UNSIGNED_16 1
C00006 Motor control Selection list 24569 5FF9 E 1 UNSIGNED_8 1
C00007 Control mode Selection list 24568 5FF8 E 1 UNSIGNED_16 1
C00008 Original application|control source Selection list 24567 5FF7 E 1 UNSIGNED_16 1
C00010 AIN1: Characteristic Linear value 24565 5FF5 A 8 INTEGER_16 100
C00011 Appl.: Reference speed Linear value 24564 5FF4 E 1 UNSIGNED_16 1
C00012 Accel. time - main setpoint Linear value 24563 5FF3 E 1 UNSIGNED_32 1000
C00013 Decel. time - main setpoint Linear value 24562 5FF2 E 1 UNSIGNED_32 1000
C00015 VFC: V/f base frequency Linear value 24560 5FF0 E 1 UNSIGNED_16 10
C00016 VFC: Vmin boost Linear value 24559 5FEF E 1 UNSIGNED_16 100
C00018 Switching frequency Selection list 24557 5FED E 1 UNSIGNED_8 1
C00019 Auto-DCB: Threshold Linear value 24556 5FEC E 1 UNSIGNED_16 1
C00021 Slip comp. Linear value 24554 5FEA E 1 INTEGER_16 100
C00022 Imax in motor mode Linear value 24553 5FE9 E 1 UNSIGNED_16 100
C00023 Imax in generator mode Linear value 24552 5FE8 E 1 INTEGER_16 100
Grayed out = display parameter (read access only)
________________________________________________________________

C00024 LS_DriveInterface: bNActCompare Linear value 24551 5FE7 E 1 INTEGER_16 100
C00026 AINx: Offset Linear value 24549 5FE5 A 1 INTEGER_16 100
C00027 AINx: Gain Linear value 24548 5FE4 A 1 INTEGER_32 10000
C00028 AINx: Input voltage Linear value 24547 5FE3 A 1 INTEGER_16 100
C00029 AINx: Input current Linear value 24546 5FE2 A 1 INTEGER_16 100
C00033 AINx: Output value Linear value 24542 5FDE A 1 INTEGER_16 100
C00034 AINx: Configuration Selection list 24541 5FDD A 1 UNSIGNED_8 1
C00036 DC braking: Current Linear value 24539 5FDB E 1 INTEGER_16 100
C00039 Fixed setpoint x (L_NSet_1 n-Fix) Linear value 24536 5FD8 A 15 INTEGER_16 100
C00050 MCTRL: Speed setpoint Linear value 24525 5FCD E 1 INTEGER_32 1
C00051 MCTRL: Actual speed value Linear value 24524 5FCC E 1 INTEGER_32 1
C00052 Motor voltage Linear value 24523 5FCB E 1 UNSIGNED_16 1
C00053 DC-bus voltage Linear value 24522 5FCA E 1 UNSIGNED_16 1
C00054 Motor current Linear value 24521 5FC9 E 1 UNSIGNED_16 100
C00055 Actual values Linear value 24520 5FC8 A 1 INTEGER_16 1
C00056 Torque Linear value 24519 5FC7 A 2 INTEGER_32 100
C00057 Maximum torque Linear value 24518 5FC6 E 1 UNSIGNED_32 100
C00058 Output frequency Linear value 24517 5FC5 E 1 INTEGER_32 100
C00059 Appl.: Reference frequency C11 Linear value 24516 5FC4 E 1 UNSIGNED_32 100
C00061 Heatsink temperature Linear value 24514 5FC2 E 1 INTEGER_16 1
C00062 Interior temperature Linear value 24513 5FC1 A 1 INTEGER_16 1
C00064 Device utilisation (Ixt) Linear value 24511 5FBF A 3 INTEGER_16 100
C00065 Supply voltage 24V Linear value 24510 5FBE E 1 INTEGER_16 10
C00066 Thermal motor load (I²xt) Linear value 24509 5FBD E 1 INTEGER_16 100
C00070 Vp speed controller Linear value 24505 5FB9 A 3 UNSIGNED_16 100
C00071 Ti speed controller Linear value 24504 5FB8 A 3 UNSIGNED_16 10
C00072 SC: Tdn speed controller Linear value 24503 5FB7 E 1 UNSIGNED_16 100
C00073 Imax/M controller gain Linear value 24502 5FB6 A 2 UNSIGNED_16 100
C00074 Reset time Imax/M controller Linear value 24501 5FB5 A 2 UNSIGNED_16 1
C00075 Vp current controller Linear value 24500 5FB4 E 1 UNSIGNED_16 100
C00076 Ti current controller Linear value 24499 5FB3 E 1 UNSIGNED_16 100
C00079 SC: Settings Selection list 24496 5FB0 A 4 UNSIGNED_8 1
C00080 Override point of field weakening Linear value 24495 5FAF E 1 INTEGER_16 1
C00081 Rated motor power Linear value 24494 5FAE E 1 UNSIGNED_16 100
C00082 Motor rotor resistance Linear value 24493 5FAD E 1 UNSIGNED_32 1
C00083 Motor rotor time constant Linear value 24492 5FAC E 1 UNSIGNED_16 1
C00084 Motor stator resistance Linear value 24491 5FAB E 1 UNSIGNED_32 1
C00085 Motor stator leakage inductance Linear value 24490 5FAA E 1 UNSIGNED_16 100
C00087 Rated motor speed Linear value 24488 5FA8 E 1 UNSIGNED_16 1
C00088 Rated motor current Linear value 24487 5FA7 E 1 UNSIGNED_16 100
C00089 Rated motor frequency Linear value 24486 5FA6 E 1 UNSIGNED_16 1
C00090 Rated motor voltage Linear value 24485 5FA5 E 1 UNSIGNED_16 1
C00091 Motor cosine phi Linear value 24484 5FA4 E 1 UNSIGNED_8 100
C00092 Motor magnetising inductance Linear value 24483 5FA3 E 1 UNSIGNED_16 10
C00093 Power section ID Linear value 24482 5FA2 E 1 UNSIGNED_16 1
C00095 Motor magnetising current Linear value 24480 5FA0 E 1 UNSIGNED_16 100
C00097 Rated motor torque Linear value 24478 5F9E E 1 UNSIGNED_32 100
C00098 Rated device current Linear value 24477 5F9D E 1 UNSIGNED_16 10
C00099 Firmware version String 24476 5F9C E 1 VISIBLE_STRING [12]
C00100 Firmware version Linear value 24475 5F9B A 4 UNSIGNED_8 1
________________________________________________________________

C00101 Add. acceleration time x Linear value 24474 5F9A A 15 UNSIGNED_32 1000
C00103 Add. deceleration time x Linear value 24472 5F98 A 15 UNSIGNED_32 1000
C00105 Decel. time - quick stop Linear value 24470 5F96 E 1 UNSIGNED_32 1000
C00106 Auto-DCB: Hold time Linear value 24469 5F95 E 1 UNSIGNED_32 1000
C00107 DC braking: Hold time Linear value 24468 5F94 E 1 UNSIGNED_32 1000
C00114 DigInX: Inversion Bit coded 24461 5F8D E 1 UNSIGNED_16 1
C00115 DI1| DI2: Function Selection list 24460 5F8C A 1 UNSIGNED_8 1
C00118 DigOutX: Inversion Bit coded 24457 5F89 E 1 UNSIGNED_8 1
C00120 Setting of motor overload (I²xt) Linear value 24455 5F87 E 1 INTEGER_16 100
C00122 Initial value motor overload (I²xt) Linear value 24453 5F85 A 1 UNSIGNED_16 100
C00123 Device utilisat. threshold (Ixt) Linear value 24452 5F84 E 1 INTEGER_16 100
C00129 Brake resistance value Linear value 24446 5F7E E 1 UNSIGNED_16 10
C00130 Rated brake resistor power Linear value 24445 5F7D E 1 UNSIGNED_16 1
C00131 Rated heat amount of brake resist. Linear value 24444 5F7C E 1 UNSIGNED_16 10
C00133 Brake resistor utilisation Linear value 24442 5F7A E 1 UNSIGNED_16 1
C00134 L_NSet_1: Ramp smoothing Selection list 24441 5F79 E 1 UNSIGNED_8 1
C00136 Communication control words Bit coded 24439 5F77 A 2 UNSIGNED_16 1
C00137 Device status Selection list 24438 5F76 E 1 UNSIGNED_16 1
C00138 Internal control signals Bit coded 24437 5F75 A 3 UNSIGNED_16 1
C00142 Auto-start option Bit coded 24433 5F71 E 1 UNSIGNED_8 1
C00144 Thermal switching frequency reduction Selection list 24431 5F6F E 1 UNSIGNED_8 1
C00148 LS_DriveInterface: Error message config. Bit coded 24427 5F6B E 1 UNSIGNED_16 1
C00150 Status word Bit coded 24425 5F69 E 1 UNSIGNED_16 1
C00155 Extended status word Bit coded 24420 5F64 E 1 UNSIGNED_16 1
C00158 Cause of controller inhibit Bit coded 24417 5F61 E 1 UNSIGNED_16 1
C00159 Cause of quick stop QSP Bit coded 24416 5F60 E 1 UNSIGNED_16 1
C00160 Status determining error (16-bit) Linear value 24415 5F5F A 1 UNSIGNED_16 1
C00161 LS_SetError_x: Error number Linear value 24414 5F5E A 4 UNSIGNED_16 1
C00162 Error number masked Linear value 24413 5F5D A 1 UNSIGNED_32 1
C00163 Logbook - binary elements Selection list 24412 5F5C A 2 UNSIGNED_16 1
C00164 Logbook - analog elements Selection list 24411 5F5B A 1 UNSIGNED_16 1
C00165 Error information String 24410 5F5A A 2 VISIBLE_STRING [14]
C00166 Error information text String 24409 5F59 A 6 VISIBLE_STRING [31]
C00168 Status determining error Linear value 24407 5F57 E 1 UNSIGNED_32 1
C00169 Logbook setting Bit coded 24406 5F56 E 1 UNSIGNED_16 1
C00170 Current error Linear value 24405 5F55 E 1 UNSIGNED_32 1
C00173 Mains voltage Selection list 24402 5F52 E 1 UNSIGNED_8 1 CINH
C00174 Reduc. brake chopper threshold Linear value 24401 5F51 E 1 UNSIGNED_8 1
C00175 Brake energy management Selection list 24400 5F50 E 1 UNSIGNED_8 1 CINH
C00177 Switching cycles Linear value 24398 5F4E A 8 UNSIGNED_32 1
C00178 Elapsed-hour meter Linear value 24397 5F4D E 1 UNSIGNED_32 1
C00179 Power-on time meter Linear value 24396 5F4C E 1 UNSIGNED_32 1
C00180 Running time Linear value 24395 5F4B A 3 UNSIGNED_32 1
C00181 Time settings Linear value 24394 5F4A A 1 UNSIGNED_16 1
C00182 L_NSet_1: S-ramp time PT1 Linear value 24393 5F49 E 1 INTEGER_16 100
C00184 AutoFailReset repetition time Linear value 24391 5F47 E 1 UNSIGNED_16 1
C00185 AutoFailReset residual runtime Linear value 24390 5F46 E 1 UNSIGNED_16 1
C00186 Max. number of AutoFailReset processes Linear value 24389 5F45 E 1 UNSIGNED_8 1
C00187 Current AutoFailReset processes Linear value 24388 5F44 E 1 UNSIGNED_8 1
C00188 AutoFailReset configuration Selection list 24387 5F43 E 1 UNSIGNED_8 1
________________________________________________________________

C00189 Resp. to too frequent AutoFailReset Selection list 24386 5F42 E 1 UNSIGNED_8 1
C00190 L_NSet_1: Setpoint arithmetic Selection list 24385 5F41 E 1 UNSIGNED_8 1
C00191 Logbook access index User Linear value 24384 5F40 A 1 UNSIGNED_8 1
C00192 Logbook data User String 24383 5F3F A 1 OCTET_STRING [32]
C00193 Logbook element User Linear value 24382 5F3E A 6 UNSIGNED_32 1
C00199 Description data String 24376 5F38 A 5 VISIBLE_STRING [32]
C00200 Firmware product type String 24375 5F37 E 1 VISIBLE_STRING [19]
C00201 Firmware String 24374 5F36 A 6 VISIBLE_STRING [22]
C00203 Product type code String 24372 5F34 A 9 VISIBLE_STRING [24]
C00204 Serial number String 24371 5F33 A 9 VISIBLE_STRING [24]
C00219 Identity Linear value 24356 5F24 A 4 UNSIGNED_32 1
C00220 L_NSet_1: Acceleration time - add. Linear value 24355 5F23 E 1 UNSIGNED_32 1000
setpoint
C00221 L_NSet_1: Deceleration time - add. Linear value 24354 5F22 E 1 UNSIGNED_32 1000
setpoint
C00222 L_PCTRL_1: Vp Linear value 24353 5F21 E 1 INTEGER_16 10
C00223 L_PCTRL_1: Tn Linear value 24352 5F20 E 1 UNSIGNED_16 1
C00224 L_PCTRL_1: Kd Linear value 24351 5F1F E 1 UNSIGNED_16 10
C00225 L_PCTRL_1: MaxLimit Linear value 24350 5F1E E 1 INTEGER_16 100
C00226 L_PCTRL_1: MinLimit Linear value 24349 5F1D E 1 INTEGER_16 100
C00227 L_PCTRL_1: Acceleration time Linear value 24348 5F1C E 1 UNSIGNED_32 1000
C00228 L_PCTRL_1: Deceleration time Linear value 24347 5F1B E 1 UNSIGNED_32 1000
C00231 L_PCTRL_1: Operating range Linear value 24344 5F18 A 4 INTEGER_16 100
C00233 L_PCTRL_1: Root function Selection list 24342 5F16 E 1 UNSIGNED_8 1
C00234 Oscillation damping influence Linear value 24341 5F15 E 1 UNSIGNED_16 100
C00235 Oscillation damping filter time Linear value 24340 5F14 E 1 UNSIGNED_8 1
C00236 Oscillation damping field weakening Linear value 24339 5F13 E 1 UNSIGNED_8 1
C00241 L_NSet_1: Hyst. NSet reached Linear value 24334 5F0E E 1 INTEGER_16 100
C00242 L_PCTRL_1: Operating mode Selection list 24333 5F0D E 1 UNSIGNED_8 1
C00243 L_PCTRL_1: Accel. time influence Linear value 24332 5F0C E 1 UNSIGNED_32 1000
C00244 L_PCTRL_1: Deceleration time influence Linear value 24331 5F0B E 1 UNSIGNED_32 1000
C00245 L_PCTRL_1: PID output value Linear value 24330 5F0A E 1 INTEGER_16 100
C00246 L_PCTRL_1: nAct_a internal Linear value 24329 5F09 E 1 INTEGER_16 100
C00247 L_PCTRL_1: Window setpoint reached Linear value 24328 5F08 E 1 INTEGER_16 100
C00249 L_PT1_1: Time constant Linear value 24326 5F06 E 1 UNSIGNED_16 1
C00270 SC: Freq. current setpoint filter Linear value 24305 5EF1 E 1 UNSIGNED_16 10
C00271 SC: Current setpoint filter width Linear value 24304 5EF0 E 1 UNSIGNED_16 10
C00272 SC: Current setpoint filter depth Linear value 24303 5EEF E 1 UNSIGNED_16 1
C00273 Motor moment of inertia Linear value 24302 5EEE E 1 UNSIGNED_32 100
C00274 SC: Max. change in acceleration Linear value 24301 5EED E 1 UNSIGNED_16 10
C00275 Setpoint feedforward control filtering Linear value 24300 5EEC E 1 UNSIGNED_16 10
C00276 SC: max. output voltage Linear value 24299 5EEB E 1 UNSIGNED_8 1
C00280 SC: Filter time const. DC detection Linear value 24295 5EE7 E 1 UNSIGNED_16 1
C00312 System runtimes Linear value 24263 5EC7 A 1 UNSIGNED_32 1000
C00321 Main program runtime Linear value 24254 5EBE A 2 UNSIGNED_16 1
C00322 Transmission mode CAN TxPDOs Linear value 24253 5EBD A 4 UNSIGNED_8 1
C00323 Transmission mode CAN Rx PDOs Linear value 24252 5EBC A 4 UNSIGNED_8 1
C00324 CAN transmit blocking time Linear value 24251 5EBB A 5 UNSIGNED_16 1
C00338 L_Arithmetik_1: Function Selection list 24237 5EAD E 1 UNSIGNED_8 1
C00339 L_Arithmetik_2: Function Selection list 24236 5EAC E 1 UNSIGNED_8 1
C00341 CAN management - error configuration Bit coded 24234 5EAA E 1 UNSIGNED_16 1
________________________________________________________________

C00342 CAN decoupling PDOInOut Bit coded 24233 5EA9 A 2 UNSIGNED_16 1
C00343 LP_CanIn decoupling value Linear value 24232 5EA8 A 16 UNSIGNED_16 1
C00344 LP_CanOut decoupling value Linear value 24231 5EA7 A 16 UNSIGNED_16 1
C00345 CAN error status Selection list 24230 5EA6 E 1 UNSIGNED_8 1
C00347 CAN status HeartBeat producer Selection list 24228 5EA4 A 7 UNSIGNED_8 1
C00349 CAN setting - DIP switch Bit coded 24226 5EA2 E 1 UNSIGNED_16 1
C00350 CAN node address Linear value 24225 5EA1 E 1 UNSIGNED_8 1
C00351 CAN baud rate Selection list 24224 5EA0 E 1 UNSIGNED_8 1
C00352 CAN slave/master Selection list 24223 5E9F E 1 UNSIGNED_8 1
C00353 CAN IN/OUT COBID source Selection list 24222 5E9E A 4 UNSIGNED_8 1
C00354 COBID Bit coded 24221 5E9D A 8 UNSIGNED_32 1
C00355 Active COBID Linear value 24220 5E9C A 8 UNSIGNED_16 1
C00356 CAN time settings Linear value 24219 5E9B A 6 UNSIGNED_16 1
C00357 CAN monitoring times Linear value 24218 5E9A A 4 UNSIGNED_16 1
C00358 CANx_OUT data length Linear value 24217 5E99 A 4 UNSIGNED_8 1
C00359 CAN status Selection list 24216 5E98 E 1 UNSIGNED_8 1
C00360 CAN telegram counter Linear value 24215 5E97 A 14 UNSIGNED_16 1
C00364 CAN MessageError Selection list 24211 5E93 E 1 UNSIGNED_8 1
C00366 Number of CAN SDO channels Selection list 24209 5E91 E 1 UNSIGNED_8 1
C00367 CAN SYNC Rx identifier Bit coded 24208 5E90 E 1 UNSIGNED_16 1
C00368 CAN SYNC Tx identifier Bit coded 24207 5E8F E 1 UNSIGNED_16 1
C00369 CAN sync transmission cycle time Linear value 24206 5E8E E 1 UNSIGNED_16 1
C00370 SyncTxRxTimes Linear value 24205 5E8D A 2 INTEGER_16 1
C00371 CAN ErrorCode Linear value 24204 5E8C A 1 UNSIGNED_16 1
C00372 CAN_Tx_Rx_Error Linear value 24203 5E8B A 4 UNSIGNED_8 1
C00381 CAN Heartbeat producer time Linear value 24194 5E82 E 1 UNSIGNED_16 1
C00385 CAN node addr. HeartBeat producer Linear value 24190 5E7E A 7 UNSIGNED_8 1
C00386 ConsumerTime HeartBeat Producer Linear value 24189 5E7D A 7 UNSIGNED_16 1
C00387 CAN-GatewayAddr Linear value 24188 5E7C A 1 UNSIGNED_8 1
C00400 LS_PulseGenerator Linear value 24175 5E6F A 3 UNSIGNED_16 1
C00401 CANxInOut: Inversion Bit coded 24174 5E6E A 8 UNSIGNED_16 1
C00407 LP_CanIn mapping Linear value 24168 5E68 A 8 UNSIGNED_32 1
C00408 LP_CanIn mapping selection Selection list 24167 5E67 A 4 UNSIGNED_8 1
C00409 LP_CanIn mapping Linear value 24166 5E66 A 16 UNSIGNED_16 1
C00410 L_SignalMonitor_a: Signal sources Selection list 24165 5E65 A 4 UNSIGNED_16 1
C00411 L_SignalMonitor_b: Signal sources Selection list 24164 5E64 A 4 UNSIGNED_16 1
C00412 L_SignalMonitor_b: Inversion Bit coded 24163 5E63 E 1 UNSIGNED_8 1
C00413 L_SignalMonitor_a: Offs./gain Linear value 24162 5E62 A 8 INTEGER_16 100
C00420 Number of encoder increments Linear value 24155 5E5B A 1 UNSIGNED_16 1
C00423 DOx: Delay times Linear value 24152 5E58 A 4 UNSIGNED_16 1000
C00425 Encoder scanning time Selection list 24150 5E56 A 1 UNSIGNED_8 1 CINH
C00434 O1U: Gain Linear value 24141 5E4D A 1 INTEGER_16 100
C00435 O1U: Offset Linear value 24140 5E4C A 1 INTEGER_16 100
C00436 O1U: Voltage Linear value 24139 5E4B A 1 INTEGER_16 100
C00439 O1U: Input value Linear value 24136 5E48 A 1 INTEGER_16 100
C00440 LS_AnalogIn1: PT1 time constant Linear value 24135 5E47 A 1 UNSIGNED_16 1
C00441 Decoupling AnalogOut Bit coded 24134 5E46 E 1 UNSIGNED_16 1
C00442 AOut1: Decoupling value Linear value 24133 5E45 A 1 INTEGER_16 100
C00443 DIx: Level Bit coded 24132 5E44 A 2 UNSIGNED_16 1
C00444 DOx: Level Bit coded 24131 5E43 A 2 UNSIGNED_16 1
________________________________________________________________

C00445 FreqInxx_nOut_v Linear value 24130 5E42 A 1 INTEGER_16 1
C00446 FreqInxx_nOut_a Linear value 24129 5E41 A 1 INTEGER_16 100
C00447 DigOut decoupling Bit coded 24128 5E40 E 1 UNSIGNED_16 1
C00448 DigOut decoupling value Bit coded 24127 5E3F E 1 UNSIGNED_16 1
C00449 FreqInxx_dnOut_p Linear value 24126 5E3E A 1 INTEGER_32 1
C00453 Keypad: Default manual jog Linear value 24122 5E3A A 2 UNSIGNED_32 1000
C00461 Remote: Acceleration/deceleration time Linear value 24114 5E32 A 1 UNSIGNED_32 1000
C00462 Remote: Control Linear value 24113 5E31 A 2 UNSIGNED_16 1
C00463 Remote: MCK control Bit coded 24112 5E30 A 1 UNSIGNED_32 1
C00464 Remote: Monitoring timeout Linear value 24111 5E2F A 1 UNSIGNED_16 1
C00465 Keypad: Time-out welcome screen Selection list 24110 5E2E E 1 INTEGER_32 1
C00466 Keypad: Default parameter Linear value 24109 5E2D E 1 INTEGER_32 1
C00467 Keypad: Default welcome screen Selection list 24108 5E2C E 1 INTEGER_32 1
C00469 Keypad: Fct. STOP key Selection list 24106 5E2A E 1 INTEGER_32 1 CINH
C00470 LS_ParFree_b Selection list 24105 5E29 A 16 UNSIGNED_8 1
C00471 LS_ParFree Bit coded 24104 5E28 A 4 UNSIGNED_16 1
C00472 LS_ParFree_a Linear value 24103 5E27 A 4 INTEGER_16 100
C00473 LS_ParFree_v Linear value 24102 5E26 A 4 INTEGER_16 1
C00474 LS_ParFree_p Linear value 24101 5E25 A 4 INTEGER_32 1
C00480 LS_DisFree_b Bit coded 24095 5E1F E 1 UNSIGNED_8 1
C00481 LS_DisFree Bit coded 24094 5E1E A 4 UNSIGNED_16 1
C00482 LS_DisFree_a Linear value 24093 5E1D A 4 INTEGER_16 100
C00484 Application units: Offset Linear value 24091 5E1B A 4 INTEGER_16 100
C00485 Application units: Display factor Linear value 24090 5E1A A 4 INTEGER_32 10000
C00486 Application units: Text String 24089 5E19 A 4 VISIBLE_STRING [7]
C00487 Application units Linear value 24088 5E18 A 4 INTEGER_32 100
C00488 L_JogCtrlEdgeDetect_1 Selection list 24087 5E17 A 6 UNSIGNED_8 1
C00490 Position encoder selection Selection list 24085 5E15 E 1 UNSIGNED_8 1
C00495 Speed sensor selection Selection list 24080 5E10 E 1 UNSIGNED_8 1
C00496 Encoder evaluation method DigIn12 Selection list 24079 5E0F E 1 UNSIGNED_8 1 CINH
C00497 Filter time constant Linear value 24078 5E0E A 1 UNSIGNED_16 10
C00505 Password data String 24070 5E06 A 3 VISIBLE_STRING [16]
C00506 PW protection internal config Bit coded 24069 5E05 A 1 UNSIGNED_16 1
C00507 Current password protection Bit coded 24068 5E04 A 1 UNSIGNED_16 1
C00508 PW protection config X6(DIAG) Bit coded 24067 5E03 A 1 UNSIGNED_16 1
C00509 PW protection config X1 (CAN) Bit coded 24066 5E02 A 1 UNSIGNED_16 1
C00510 PW protection config. MCI Bit coded 24065 5E01 A 1 UNSIGNED_16 1
C00517 User menu Linear value 24058 5DFA A 32 INTEGER_32 1000
C00560 Fan switching status Selection list 24015 5DCF A 2 UNSIGNED_8 1
C00561 Failure indication Selection list 24014 5DCE A 5 UNSIGNED_8 1
C00565 Resp. to mains phase failure Selection list 24010 5DCA E 1 UNSIGNED_8 1
C00566 Resp. to fan failure Selection list 24009 5DC9 E 1 UNSIGNED_8 1
C00567 Resp. to speed controller limited Selection list 24008 5DC8 E 1 UNSIGNED_8 1
C00569 Resp. to peak current Selection list 24006 5DC6 A 1 UNSIGNED_8 1
C00570 Resp. to controller limitations Selection list 24005 5DC5 A 4 UNSIGNED_8 1
C00571 Resp. to wrong controller setting Selection list 24004 5DC4 A 2 UNSIGNED_8 1
C00572 Brake resistor overload threshold Linear value 24003 5DC3 E 1 UNSIGNED_8 1
C00574 Resp. to brake resist. overtemp. Selection list 24001 5DC1 E 1 UNSIGNED_8 1
C00579 Resp. to max. speed/output freq. reached Selection list 23996 5DBC E 1 UNSIGNED_8 1
C00580 Resp. to operating system error Selection list 23995 5DBB A 1 UNSIGNED_8 1
________________________________________________________________

C00581 Resp. to LS_SetError_x Selection list 23994 5DBA A 4 UNSIGNED_8 1
C00582 Resp. to heatsink temp.> shutdown temp. Selection list 23993 5DB9 E 1 UNSIGNED_8 1
-5°C
C00585 Resp. to motor overtemp. PTC Selection list 23990 5DB6 E 1 UNSIGNED_8 1
C00586 Resp. open circuit HTL encoder Selection list 23989 5DB5 E 1 UNSIGNED_8 1
C00588 Resp. to max. speed at switching freq. Selection list 23987 5DB3 E 1 UNSIGNED_8 1
C00590 Resp. to switch. frequency red. Selection list 23985 5DB1 E 1 UNSIGNED_8 1
C00592 Resp. to CAN bus connection Selection list 23983 5DAF A 5 UNSIGNED_8 1
C00593 Resp. to CANx_IN monitoring Selection list 23982 5DAE A 4 UNSIGNED_8 1
C00594 Resp. to control word error Selection list 23981 5DAD A 2 UNSIGNED_8 1
C00595 MCK: Resp. to MCK error Selection list 23980 5DAC A 15 UNSIGNED_8 1
C00597 Resp. to motor phase failure Selection list 23978 5DAA E 1 UNSIGNED_8 1
C00598 Resp. to open circuit AINx Selection list 23977 5DA9 A 1 UNSIGNED_8 1
C00599 Motor phase failure threshold Linear value 23976 5DA8 E 1 INTEGER_16 100
C00600 Resp. to DC bus voltage Selection list 23975 5DA7 A 1 UNSIGNED_8 1
C00601 Delayed resp. to fault: DC bus overvoltage Linear value 23974 5DA6 A 1 UNSIGNED_16 1000
C00602 Resp. to earth fault Selection list 23973 5DA5 E 1 UNSIGNED_8 1
C00604 Resp. to device overload (Ixt) Selection list 23971 5DA3 E 1 UNSIGNED_8 1
C00606 Resp. to motor overload (I²xt) Selection list 23969 5DA1 E 1 UNSIGNED_8 1
C00607 Resp. to max. freq. feedb. DIG12/67 Selection list 23968 5DA0 E 1 UNSIGNED_8 1
C00608 Resp. to maximum torque Selection list 23967 5D9F E 1 UNSIGNED_8 1
C00609 Resp. to maximum current Selection list 23966 5D9E E 1 UNSIGNED_8 1
C00620 System connection list: 16-bit Selection list 23955 5D93 A 111 UNSIGNED_16 1
C00621 System connection list: Bool Selection list 23954 5D92 A 199 UNSIGNED_16 1
C00622 System connection list: Angle Selection list 23953 5D91 A 25 UNSIGNED_16 1
C00632 L_NSet_1: Max. skip freq. Linear value 23943 5D87 A 3 INTEGER_16 100
C00633 L_NSet_1: Min. skip freq. Linear value 23942 5D86 A 3 INTEGER_16 100
C00634 L_NSet_1: wState Bit coded 23941 5D85 E 1 UNSIGNED_16 1
C00635 L_NSet_1: nMaxLimit Linear value 23940 5D84 E 1 INTEGER_16 100
C00636 L_NSet_1: nMinLimit Linear value 23939 5D83 E 1 INTEGER_16 100
C00637 L_NSet_1: Output blocking zones Linear value 23938 5D82 E 1 INTEGER_16 100
C00638 L_NSet_1: Output ramp rounding Linear value 23937 5D81 E 1 INTEGER_16 100
C00639 L_NSet_1: Output add.value Linear value 23936 5D80 E 1 INTEGER_16 100
C00640 L_NSet_1: nNOut_a Linear value 23935 5D7F E 1 INTEGER_16 100
C00643 Resp. to PLI monitoring Selection list 23932 5D7C A 1 UNSIGNED_8 1
C00653 Sensibility - Setpoint feedforward control Selection list 23922 5D72 A 1 UNSIGNED_8 1
C00654 Source of diff. setpoint feedforward Selection list 23921 5D71 A 1 UNSIGNED_8 1
control
C00670 L_OffsetGainP_1: Gain Linear value 23905 5D61 E 1 INTEGER_32 10000
C00671 L_OffsetGainP_2: Gain Linear value 23904 5D60 E 1 INTEGER_32 10000
C00672 L_OffsetGainP_3: Gain Linear value 23903 5D5F E 1 INTEGER_32 10000
C00680 L_Compare_1: Fct. Selection list 23895 5D57 E 1 UNSIGNED_8 1
C00681 L_Compare_1: Hysteresis Linear value 23894 5D56 E 1 INTEGER_16 100
C00682 L_Compare_1: Window Linear value 23893 5D55 E 1 INTEGER_16 100
C00685 L_Compare_2: Fct. Selection list 23890 5D52 E 1 UNSIGNED_8 1
C00686 L_Compare_2: Hysteresis Linear value 23889 5D51 E 1 INTEGER_16 100
C00687 L_Compare_2: Window Linear value 23888 5D50 E 1 INTEGER_16 100
C00690 L_Compare_3: Fct. Selection list 23885 5D4D E 1 UNSIGNED_8 1
C00691 L_Compare_3: Hysteresis Linear value 23884 5D4C E 1 INTEGER_16 100
C00692 L_Compare_3: Window Linear value 23883 5D4B E 1 INTEGER_16 100
C00696 L_OffsetGainP_1: Offset Linear value 23879 5D47 E 1 INTEGER_16 100
________________________________________________________________

C00699 L_MulDiv_1: Parameter Linear value 23876 5D44 A 2 INTEGER_16 1
C00700 LA_NCtrl: Analog connection list Selection list 23875 5D43 A 29 UNSIGNED_16 1
C00701 LA_NCtrl: Digital connection list Selection list 23874 5D42 A 48 UNSIGNED_16 1
C00720 L_DigitalDelay_1: Delay Linear value 23855 5D2F A 2 UNSIGNED_32 1000
C00725 Current switching frequency Selection list 23850 5D2A E 1 UNSIGNED_8 1
C00727 LS_Keypad digital values Linear value 23848 5D28 A 8 UNSIGNED_8 1
C00728 Analog values - keypad Linear value 23847 5D27 A 3 INTEGER_16 100
C00729 Remote: Setpoint selection Linear value 23846 5D26 A 2 INTEGER_16 100
C00760 LA_SwitchPos: Analog connection list Selection list 23815 5D07 A 25 UNSIGNED_16 1
C00761 LA_SwitchPos: Digital connection list Selection list 23814 5D06 A 47 UNSIGNED_16 1
C00800 L_MPot_1: Upper limit Linear value 23775 5CDF E 1 INTEGER_16 100
C00801 L_MPot_1: Lower limit Linear value 23774 5CDE E 1 INTEGER_16 100
C00802 L_MPot_1: Acceleration time Linear value 23773 5CDD E 1 UNSIGNED_16 10
C00803 L_MPot_1: Deceleration time Linear value 23772 5CDC E 1 UNSIGNED_16 10
C00804 L_MPot_1: Inactive fct. Selection list 23771 5CDB E 1 UNSIGNED_8 1
C00805 L_MPot_1: Init fct. Selection list 23770 5CDA E 1 UNSIGNED_8 1
C00806 L_MPot_1: Use Selection list 23769 5CD9 E 1 UNSIGNED_8 1
C00820 L_DigitalLogic_1: Function Selection list 23755 5CCB E 1 UNSIGNED_8 1
C00821 L_DigitalLogic_1: Truth table Selection list 23754 5CCA A 8 UNSIGNED_8 1
C00828 L_DigitalLogic_3: Function Selection list 23747 5CC3 E 1 UNSIGNED_8 1
C00829 L_DigitalLogic_3: truth table Selection list 23746 5CC2 A 8 UNSIGNED_8 1
C00830 16-bit inputs [%] Linear value 23745 5CC1 A 97 INTEGER_16 100
C00831 16-bit inputs Bit coded 23744 5CC0 A 97 UNSIGNED_16 1
C00833 Binary inputs Selection list 23742 5CBE A 131 UNSIGNED_8 1
C00834 32-bit inputs [incr] Linear value 23741 5CBD A 8 INTEGER_32 1
C00840 16-bit inputs I/O level [%] Linear value 23735 5CB7 A 111 INTEGER_16 100
C00841 16-bit inputs I/O level Bit coded 23734 5CB6 A 111 UNSIGNED_16 1
C00843 Binary inputs I/O level Selection list 23732 5CB4 A 183 UNSIGNED_8 1
C00844 32-bit inputs I/O level [incr] Linear value 23731 5CB3 A 25 INTEGER_32 1
C00866 CAN input words Bit coded 23709 5C9D A 16 UNSIGNED_16 1
C00868 CAN output words Bit coded 23707 5C9B A 16 UNSIGNED_16 1
C00876 MCI input words Bit coded 23699 5C93 A 16 UNSIGNED_16 1
C00877 MCI output words Bit coded 23698 5C92 A 16 UNSIGNED_16 1
C00890 MCI_InOut: Inversion Bit coded 23685 5C85 A 4 UNSIGNED_16 1
C00905 Motor phase direction of rotation Selection list 23670 5C76 E 1 UNSIGNED_8 1 CINH
C00909 Speed limitation Linear value 23666 5C72 A 2 INTEGER_16 100
C00910 Frequency limitation Linear value 23665 5C71 A 2 UNSIGNED_16 1
C00915 Motor cable length Linear value 23660 5C6C E 1 UNSIGNED_16 10
C00916 Motor cable cross-section Linear value 23659 5C6B E 1 UNSIGNED_16 100
C00917 Motor cable resistance Linear value 23658 5C6A E 1 UNSIGNED_16 1
C00919 Load moment of inertia Linear value 23656 5C68 A 1 UNSIGNED_32 100
C00937 Field-oriented motor currents Linear value 23638 5C56 A 2 INTEGER_16 100
C00938 PSM: Maximum motor current field Linear value 23637 5C55 E 1 UNSIGNED_16 100
weakening
C00939 Ultimate motor current Linear value 23636 5C54 E 1 UNSIGNED_16 10
C00950 L_Interpolator_1: Activation FB functions Selection list 23625 5C49 A 3 UNSIGNED_8 1
C00951 L_Interpolator_1: No. of interpolation Linear value 23624 5C48 E 1 UNSIGNED_16 1
steps
C00952 L_Interpolator_1: Limit value - error cycles Linear value 23623 5C47 E 1 UNSIGNED_16 1
________________________________________________________________

C00953 L_Interpolator_1: Speed-up Linear value 23622 5C46 E 1 UNSIGNED_8 1
C00965 Max. motor speed Linear value 23610 5C3A E 1 UNSIGNED_16 1
C00966 VFC: Time const. slip comp. Linear value 23609 5C39 E 1 UNSIGNED_16 1
C00967 VFC: Frequency interpol. point n Linear value 23608 5C38 A 11 INTEGER_16 10
C00968 VFC: Voltage interpol. point n Linear value 23607 5C37 A 11 UNSIGNED_16 100
C00969 Motorparameter Linear value 23606 5C36 A 1 UNSIGNED_8 1
C00971 VFC: V/f +encoder limitation Linear value 23604 5C34 A 2 UNSIGNED_16 100
C00972 VFC: Vp V/f +encoder Linear value 23603 5C33 E 1 UNSIGNED_16 1000
C00973 VFC: Ti V/f +encoder Linear value 23602 5C32 E 1 UNSIGNED_16 10
C00975 VFC-ECO: Vp CosPhi controller Linear value 23600 5C30 E 1 UNSIGNED_16 1000
C00976 VFC-ECO: Ti CosPhi controller Linear value 23599 5C2F E 1 UNSIGNED_16 10
C00977 VFC-ECO: Minimum voltage V/f Linear value 23598 5C2E E 1 INTEGER_16 100
C00978 VFC-ECO: Voltage reduction Linear value 23597 5C2D E 1 INTEGER_16 1
C00979 Cosine phi Linear value 23596 5C2C A 2 INTEGER_16 100
C00980 Output power Linear value 23595 5C2B A 2 INTEGER_32 1000
C00981 Energy display Linear value 23594 5C2A A 2 INTEGER_32 100
C00982 VFC-ECO: Voltage reduction ramp Linear value 23593 5C29 E 1 UNSIGNED_8 10
C00983 Delay Linear value 23592 5C28 A 2 UNSIGNED_16 1
C00985 SLVC: Field current controller gain Linear value 23590 5C26 E 1 INTEGER_16 100
C00986 SLVC: Cross current controller gain Linear value 23589 5C25 E 1 INTEGER_16 100
C00987 Inverter motor brake: nAdd Linear value 23588 5C24 E 1 INTEGER_16 1
C00988 Inverter motor brake: PT1 filter time Linear value 23587 5C23 E 1 INTEGER_16 10
C00989 Restart on the fly: Flying restart frequency Linear value 23586 5C22 A 1 INTEGER_16 100
fd_add
C00990 Flying restart fct.: Activate Selection list 23585 5C21 E 1 UNSIGNED_8 1 CINH
C00991 Flying restart fct.: Process Selection list 23584 5C20 E 1 UNSIGNED_16 1
C00992 Flying restart fct.: Start frequency Linear value 23583 5C1F E 1 INTEGER_16 1
C00993 Flying restart fct: Int. time Linear value 23582 5C1E E 1 UNSIGNED_16 10
C00994 Flying restart fct.: Current Linear value 23581 5C1D E 1 INTEGER_16 100
C00995 SLPSM: Controlled current setpoint Linear value 23580 5C1C A 2 UNSIGNED_16 100
C00996 SLPSM: Switching speed Linear value 23579 5C1B A 2 INTEGER_16 100
C00997 SLPSM: Filter cutoff frequency Linear value 23578 5C1A E 1 INTEGER_16 100
C00998 SLPSM: Filter time rotor position Linear value 23577 5C19 A 2 INTEGER_16 10
C00999 SLPSM: PLL gain Linear value 23576 5C18 E 1 INTEGER_16 1
C01000 MCTRL: Status Bit coded 23575 5C17 E 1 UNSIGNED_16 1
C01001 Manual entry of motor type Selection list 23574 5C16 A 1 UNSIGNED_8 1
C01082 LS_WriteParamList: Execute Mode Selection list 23493 5BC5 E 1 UNSIGNED_8 1
C01083 LS_WriteParamList: Error status Linear value 23492 5BC4 E 1 UNSIGNED_16 1
C01084 LS_WriteParamList: Error line Linear value 23491 5BC3 E 1 UNSIGNED_8 1
C01085 LS_WriteParamList: Index Linear value 23490 5BC2 A 32 INTEGER_32 1000
C01086 LS_WriteParamList: WriteValue_1 Linear value 23489 5BC1 A 32 INTEGER_32 1
C01087 LS_WriteParamList: WriteValue_2 Linear value 23488 5BC0 A 32 INTEGER_32 1
C01088 LS_WriteParamList: WriteValue_3 Linear value 23487 5BBF A 32 INTEGER_32 1
C01089 LS_WriteParamList: WriteValue_4 Linear value 23486 5BBE A 32 INTEGER_32 1
C01090 LS_ParReadWrite 1-3: Index Linear value 23485 5BBD A 3 INTEGER_32 1000
C01091 LS_ParReadWrite 1-3: Cycle time Selection list 23484 5BBC A 3 UNSIGNED_16 1
C01092 LS_ParReadWrite 1-3: FailState Linear value 23483 5BBB A 3 UNSIGNED_16 1
C01093 LS_ParReadWrite 1-3: Arithmetic mode Selection list 23482 5BBA A 3 UNSIGNED_8 1
C01094 LS_ParReadWrite 1-3: Numerator Linear value 23481 5BB9 A 3 INTEGER_16 1
C01095 LS_ParReadWrite 1-3: Denominator Linear value 23480 5BB8 A 3 INTEGER_16 1
________________________________________________________________

C01120 Sync signal source Selection list 23455 5B9F E 1 UNSIGNED_8 1
C01121 Sync cycle time setpoint Linear value 23454 5B9E E 1 UNSIGNED_16 1
C01122 Sync phase position Linear value 23453 5B9D E 1 UNSIGNED_16 1
C01123 Sync window Linear value 23452 5B9C E 1 UNSIGNED_16 1
C01124 Sync correction width Selection list 23451 5B9B E 1 UNSIGNED_8 1
C01138 L_Transient 1-4: Function Selection list 23437 5B8D A 4 UNSIGNED_8 1
C01139 L_Transient 1-4: Pulse duration Linear value 23436 5B8C A 4 UNSIGNED_16 1000
C01350 ACDrive: Drive mode Selection list 23225 5AB9 A 1 UNSIGNED_8 1
C01351 ACDrive: Control word Bit coded 23224 5AB8 A 1 UNSIGNED_16 1
C01352 ACDrive: Status word Bit coded 23223 5AB7 A 1 UNSIGNED_16 1
C01353 ACDrive: Setpoint scaling Linear value 23222 5AB6 A 2 INTEGER_8 1
C01501 Resp. to communication error with MCI Selection list 23074 5A22 A 2 UNSIGNED_8 1
C01770 Filter time - earth-fault detect. is running Linear value 22805 5915 E 1 UNSIGNED_8 1
C01902 Diagnostics X6: Max. baud rate Selection list 22673 5891 E 1 UNSIGNED_16 1
C01903 Diagnostics X6: Change baud rate Selection list 22672 5890 E 1 UNSIGNED_8 1
C01905 Diagnostics X6: Current baud rate Linear value 22670 588E E 1 UNSIGNED_32 1
C02200 LS_WriteParamList: Function Selection list 22375 5767 A 2 UNSIGNED_8 1
C02210 LS_WriteParamList: Motor control Selection list 22365 575D A 4 UNSIGNED_8 1
C02212 LS_WriteParamList: VFC: V/f base Linear value 22363 575B A 4 UNSIGNED_16 10
frequency
C02213 LS_WriteParamList: VFC: Vmin boost Linear value 22362 575A A 4 UNSIGNED_16 100
C02214 LS_WriteParamList: Switching frequency Selection list 22361 5759 A 4 UNSIGNED_8 1
C02215 LS_WriteParamList: Auto-DCB: Threshold Linear value 22360 5758 A 4 UNSIGNED_16 1
C02216 LS_WriteParamList: Slip compensation Linear value 22359 5757 A 4 INTEGER_16 100
C02217 LS_WriteParamList: Imax in motor mode Linear value 22358 5756 A 4 UNSIGNED_16 100
C02218 LS_WriteParamList: Imax in generator Linear value 22357 5755 A 4 INTEGER_16 100
mode
C02219 LS_WriteParamList: DC braking: Current Linear value 22356 5754 A 4 INTEGER_16 100
C02220 LS_WriteParamList: Vp speed controller Linear value 22355 5753 A 12 UNSIGNED_16 100
C02221 LS_WriteParamList: Ti speed controller Linear value 22354 5752 A 12 UNSIGNED_16 10
C02222 LS_WriteParamList: SC: Tdn speed Linear value 22353 5751 A 4 UNSIGNED_16 100
controller
C02223 LS_WriteParamList: Imax/M controller Linear value 22352 5750 A 8 UNSIGNED_16 100
gain
C02224 LS_WriteParamList: Imax/M controller Linear value 22351 574F A 8 UNSIGNED_16 1
reset time
C02225 LS_WriteParamList: Vp current controller Linear value 22350 574E A 4 UNSIGNED_16 100
C02226 LS_WriteParamList: Ti current controller Linear value 22349 574D A 4 UNSIGNED_16 100
C02229 LS_WriteParamList: SC: settings Selection list 22346 574A A 16 UNSIGNED_8 1
C02230 LS_WriteParamList: Override point of field Linear value 22345 5749 A 4 INTEGER_16 1
weakening
C02231 LS_WriteParamList: Rated motor power Linear value 22344 5748 A 4 UNSIGNED_16 100
C02232 LS_WriteParamList: Motor rotor resistance Linear value 22343 5747 A 4 UNSIGNED_32 1
C02233 LS_WriteParamList: Motor stator Linear value 22342 5746 A 4 UNSIGNED_32 1
resistance
C02234 LS_WriteParamList: Motor stator leakage Linear value 22341 5745 A 4 UNSIGNED_16 100
inductance
C02236 LS_WriteParamList: Rated motor speed Linear value 22339 5743 A 4 UNSIGNED_16 1
C02237 LS_WriteParamList: Rated motor current Linear value 22338 5742 A 4 UNSIGNED_16 100
C02238 LS_WriteParamList: Rated motor Linear value 22337 5741 A 4 UNSIGNED_16 1
frequency
C02239 LS_WriteParamList: Rated motor voltage Linear value 22336 5740 A 4 UNSIGNED_16 1
C02240 LS_WriteParamList: Motor cosine phi Linear value 22335 573F A 4 UNSIGNED_8 100
________________________________________________________________

C02241 LS_WriteParamList: Motor magnetizing Linear value 22334 573E A 4 UNSIGNED_16 10
inductance
C02242 LS_WriteParamList: Motor magnetising Linear value 22333 573D A 4 UNSIGNED_16 100
current
C02244 LS_WriteParamList: Auto-DCB: hold time Linear value 22331 573B A 4 UNSIGNED_32 1000
C02245 LS_WriteParamList: DC braking: Hold time Linear value 22330 573A A 4 UNSIGNED_32 1000
C02246 LS_WriteParamList: Setting of motor Linear value 22329 5739 A 4 INTEGER_16 100
overload (I²xt)
C02249 LS_WriteParamList: Oscillation damping Linear value 22326 5736 A 4 UNSIGNED_16 100
influence
C02250 LS_WriteParamList: Filter time - oscill. Linear value 22325 5735 A 4 UNSIGNED_8 1
damping
C02251 LS_WriteParamList: Oscillation damping Linear value 22324 5734 A 4 UNSIGNED_8 1
field weakening
C02256 LS_WriteParamList: Moment of inertia Linear value 22319 572F A 4 UNSIGNED_32 100
C02260 LS_WriteParamList: Speed sensor Selection list 22315 572B A 4 UNSIGNED_8 1
selection
C02264 LS_WriteParamList: Sensibility - Setpoint Selection list 22311 5727 A 4 UNSIGNED_8 1
feedforward control
C02272 LS_WriteParamList: Motor phase direction Selection list 22303 571F A 4 UNSIGNED_8 1 CINH
of rotation
C02273 LS_WriteParamList: Speed limitation Linear value 22302 571E A 8 INTEGER_16 100
C02274 LS_WriteParamList: Frequency limitation Linear value 22301 571D A 8 UNSIGNED_16 1
C02275 LS_WriteParamList: Motor cable length Linear value 22300 571C A 4 UNSIGNED_16 10
C02276 LS_WriteParamList: Motor cable cross- Linear value 22299 571B A 4 UNSIGNED_16 100
section
C02278 LS_WriteParamList: PSM: Maximum Linear value 22297 5719 A 4 UNSIGNED_16 100
motor current field weakening
C02279 LS_WriteParamList: Ultimate motor Linear value 22296 5718 A 4 UNSIGNED_16 10
current
C02280 LS_WriteParamList: Max. motor speed Linear value 22295 5717 A 4 UNSIGNED_16 1
C02281 LS_WriteParamList: VFC: Time const. slip Linear value 22294 5716 A 4 UNSIGNED_16 1
comp.
C02284 LS_WriteParamList: VFC: limitation V/f Linear value 22291 5713 A 8 UNSIGNED_16 100
+encoder
C02285 LS_WriteParamList: VFC: Vp V/f +encoder Linear value 22290 5712 A 4 UNSIGNED_16 1000
C02286 LS_WriteParamList: VFC: Ti V/f +encoder Linear value 22289 5711 A 4 UNSIGNED_16 10
C02287 LS_WriteParamList: VFC-ECO: Vp CosPhi Linear value 22288 5710 A 4 UNSIGNED_16 1000
controller
C02288 LS_WriteParamList: VFC-ECO: Ti CosPhi Linear value 22287 570F A 4 UNSIGNED_16 10
controller
C02289 LS_WriteParamList: VFC-ECO: Minimum Linear value 22286 570E A 4 INTEGER_16 100
voltage U/f
C02290 LS_WriteParamList: VFC-ECO: Voltage Linear value 22285 570D A 4 UNSIGNED_8 10
reduction ramp
C02291 LS_WriteParamList: SLVC: Field current Linear value 22284 570C A 4 INTEGER_16 100
controller gain
C02292 LS_WriteParamList: SLVC: Cross current Linear value 22283 570B A 4 INTEGER_16 100
controller gain
C02293 LS_WriteParamList: Inverter motor brake: Linear value 22282 570A A 4 INTEGER_16 1
nAdd
C02294 LS_WriteParamList: Inverter motor brake: Linear value 22281 5709 A 4 INTEGER_16 10
PT1 filter time
C02295 LS_WriteParamList: Flying restart fct.: Selection list 22280 5708 A 4 UNSIGNED_8 1 CINH
activation
C02296 LS_WriteParamList: Flying restart fct.: Selection list 22279 5707 A 4 UNSIGNED_16 1
process
C02297 LS_WriteParamList: Flying restart: start Linear value 22278 5706 A 4 INTEGER_16 1
frequency
________________________________________________________________

C02298 LS_WriteParamList: Flying restart fct: int. Linear value 22277 5705 A 4 UNSIGNED_16 10
time
C02299 LS_WriteParamList: Flying restart fct.: Linear value 22276 5704 A 4 INTEGER_16 100
current
C02300 LS_WriteParamList: SLPSM: Controlled Linear value 22275 5703 A 8 UNSIGNED_16 100
current setpoint
C02301 LS_WriteParamList: SLPSM: Switching Linear value 22274 5702 A 8 INTEGER_16 100
speed
C02302 LS_WriteParamList: SLPSM: Filter time - Linear value 22273 5701 A 4 INTEGER_16 100
rotor position
C02303 LS_WriteParamList: SLPSM: Filter time Linear value 22272 5700 A 8 INTEGER_16 10
rotor position
C02304 LS_WriteParamList: SLPSM: PLL gain Linear value 22271 56FF A 4 INTEGER_16 1
C02305 LS_WriteParamList: PSM: Ppp saturation Linear value 22270 56FE A 68 UNSIGNED_8 1
characteristic
C02306 LS_WriteParamList: PSM: Imax Ppp Linear value 22269 56FD A 4 UNSIGNED_16 10
saturation characteristic
C02307 LS_WriteParamList: PSM: Activate Ppp Selection list 22268 56FC A 4 UNSIGNED_8 1
saturation char.
C02311 LS_WriteParamList: PLI without motion: Linear value 22264 56F8 A 4 INTEGER_8 1
Adaptation of time duration
C02312 LS_WriteParamList: PLI without motion Bit coded 22263 56F7 A 4 UNSIGNED_16 1
C02313 LS_WriteParamList: PLI without motion: Linear value 22262 56F6 A 4 INTEGER_8 1
Adaptation of ident angle
C02315 LS_WriteParamList: Manual entry of Selection list 22260 56F4 A 4 UNSIGNED_8 1
motor type
C02580 Holding brake: Operating mode Selection list 21995 55EB E 1 UNSIGNED_8 1
C02581 Holding brake: Speed thresholds Linear value 21994 55EA A 5 INTEGER_16 100
C02582 Holding brake: Setting Bit coded 21993 55E9 E 1 UNSIGNED_8 1
C02589 Holding brake: Time system Linear value 21986 55E2 A 4 UNSIGNED_16 1
C02593 Holding brake: Activation time Linear value 21982 55DE A 4 UNSIGNED_32 1000
C02607 Holding brake: Status Bit coded 21968 55D0 E 1 UNSIGNED_16 1
C02610 MCK: Accel./decel. times Linear value 21965 55CD A 3 UNSIGNED_32 1000
C02611 MCK: Limitations Linear value 21964 55CC A 5 INTEGER_16 100
C02830 DigInX: Debounce time Selection list 21745 54F1 A 4 UNSIGNED_8 1
C02840 CountIn1: Parameter Linear value 21735 54E7 A 2 UNSIGNED_32 1
C02841 CountIn1: Counter content Linear value 21734 54E6 A 1 UNSIGNED_32 1
C02842 FreqInxx: Offset Linear value 21733 54E5 A 1 INTEGER_16 100
C02843 FreqInxx: Gain Linear value 21732 54E4 A 1 INTEGER_16 100
C02844 FreqIn12: Function Selection list 21731 54E3 A 1 UNSIGNED_8 1
C02845 FreqIn12: PosIn comparison value Linear value 21730 54E2 E 1 INTEGER_32 1
C02853 PSM: Lss saturation characteristic Linear value 21722 54DA A 17 UNSIGNED_8 1
C02855 PSM: Imax Lss saturation characteristic Linear value 21720 54D8 E 1 UNSIGNED_16 10
C02859 PSM: Activate Ppp saturation char. Selection list 21716 54D4 E 1 UNSIGNED_8 1
C02864 MCTRL: Optimisations Bit coded 21711 54CF A 1 UNSIGNED_16 1
C02865 MCTRL: Special settings Bit coded 21710 54CE A 1 UNSIGNED_16 1
C02866 MCTRL: Special settings Selection list 21709 54CD A 3 UNSIGNED_8 1 CINH
C02867 Identification process Selection list 21708 54CC A 1 UNSIGNED_8 1 CINH
C02870 PLI without motion: Optimisation factor Linear value 21705 54C9 A 1 INTEGER_16 100
C02871 PLI without motion: Running time Linear value 21704 54C8 A 1 INTEGER_16 100
C02872 PLI without motion: Adaptation of time Linear value 21703 54C7 A 1 INTEGER_8 1
duration
C02873 PLI without motion: Ident. el. rotor displ. Linear value 21702 54C6 A 1 INTEGER_16 1
angle
C02874 PLI without motion Bit coded 21701 54C5 A 1 UNSIGNED_16 1
________________________________________________________________

C02875 PLI without motion: Adaptation of ident Linear value 21700 54C4 A 1 INTEGER_8 1
angle
C02879 Slip calculation from equivalent circuit Bit coded 21696 54C0 A 1 UNSIGNED_16 1
diagram
16 Working with the FB Editor
16.1 Basics
________________________________________________________________

The function block editor (in the following called "FB Editor") is available in the »Engineer« from the
"StateLine" device version.
The FB Editor can be used to carry out an online monitoring of the technology application running
in the device (e.g. for diagnostic purposes) and reconfigure the I/O interconnection of the
technology application.
Functional range
The options for processing function block interconnections depend on the device version:
Function Inverter Drives 8400

I/O interconnection can be reconfigured   
Application interconnection can be reconfigured   
Free interconnection ()  
() Free interconnection for "StateLine C" is only available from version 12.00.00 and »Engineer« V2.17.
 Note!
The illustrations of the FB Editor user interface and the dialog boxes in this
documentation are based on the »Engineer« V2.10.
16.1 Basics
Using the function block interconnection, any signal interconnection can be implemented. Various
FBs are available for digital signal processing, signal conversion and logic modules.
For special tasks it has proved of value to use the integrated technology applications as a basis for
modifications or extensions of the available FB interconnections. Depending on the device version
(see Functional range), the experienced user has the opportunity to implement own drive solutions
independent of the predefined technology applications by using the "free interconnection".
For this purpose, the FB Editor provides the following functions:
• Copying & pasting of interconnection elements (also device-independent)
• Export & import of the interconnection
• Comparison of two interconnections (also online <-> offline comparison)
• Overview window and zoom functions
• Comments on the signal flow
• Online monitoring
The option to mask out non-used inputs and outputs of modules is also sensible to minimise the
complexity of the FB interconnection and to adapt the clarity of the interconnection to the
customers need.
All graphical information of the FB interconnection view (positions of the FBs, line or flag
presentation of the connection, visibility of the inputs/outputs) are saved with the parameter set in
the memory module of the controller and can be uploaded any time into the FB Editor of the
»Engineer« even if the Engineer project is not available.
16.1 Basics
________________________________________________________________
16.1.1 Basic components of a drive solution
A drive solution consists of the following basic components:

• Signal inputs (for control and setpoint signals)
• Signal flow of the technology application
• Signal outputs (for status and actual value signals)
Signal ... Signal

inputs Switch-off positioning outputs
Actuating drive speed
Setpoint Motion
M generator Control
Kernel
ç è
n
Process t
controller
Device Motor M
control control
[16-1] Basic components of a drive solution
Regarding the 8400 device series, these three components are available for the FB interconnection
and classified as follows:
Module type Name Task Example

Function block L_name General function block for free L_Compare_1
interconnection (only HighLine) L_PCTRL_1
System block LS_name Signal interface to inverter-internal LS_DigitalInput
functions LS_DriveInterface
Port block LP_name • Process data communication via a LP_CanIn1
fieldbus using a communication module LP_CanOut1
• Process data communication via CAN on LP_MciIn
board LP_MciOut
Application block LA_name Block for a technology application LA_NCtrl
LA_SwitchPos
Further information on the individual modules can be obtained from the following subchapters!
16.1 Basics
________________________________________________________________
16.1.1.1 What is a function block?

A function block (FB) can be compared with an integrated circuit that contains a specific control
logic and delivers one or several values when being executed.
• The function blocks are classified alphabetically in a "function library".
• Each function block has a unique identifier and a processing number which defines the position
at which the function block is calculated during runtime.
 Name of the function block

 Processing number
 Button for opening the online help for the function block
 Another available function block of the same type (numbering in ascending order)
[16-2] Information on a function block in the FB Editor
 Tip!
A detailed description of all available function blocks can be found in the main chapter
"Function library". ( 909)
16.1 Basics
________________________________________________________________
16.1.1.2 Parameterisable function blocks

Some function blocks have parameters which serve to change particular settings during operation,
if required, or which display actual values & status information.
• The icon in the head of the module, a double-click on the module, or the Parameter...
command in the Context menu of the module serve to open the parameterisation dialog or the
parameter list for the module.
Example
Parameterisation dialog for the FB L_DigitalDelay_2:
16.1.1.3 What is a system block?

System blocks are a special variant of a function block. They partly activate real hardware, e. g. the
digital and analog inputs/outputs and the motor control.
 Name of the system block

 Button for opening the online help for the system block
 Button for opening the parameterisation dialog or the parameter list for the system block
[16-3] Example: System block "LS_MotorInterface" for mapping the motor control
16.1 Basics
________________________________________________________________
16.1.1.4 What is a port block?

A port block is a signal interface to a fieldbus. Input/output ports represent the input and output
process data of the fieldbus.
• Port blocks LP_CanIn/LP_CanOut: Signal interface to the CAN bus
• Port blocks LP_MciIn/LP_MciOut: Signal interface to a plugged fieldbus module
If, for instance, the controller is to be controlled via CAN bus or a fieldbus module, the input/output
ports are connected to the application block (device-internal signal processing) in the I/O level of the
FB Editor.
 Name of the port block

 Button for opening the online help for the port block
 Button for opening the parameterisation dialog or the parameter list for the port block
[16-4] Example: Input port "LP_CanIn1" and output port "LP_CanOut1"
16.1.1.5 What is an application block?

The application/technology function set in C00005 is shown as application block in the I/O level of
the FB Editor.
The application block comprises the signal flow processing generated via function block
interconnection for the selected application in each case (e.g. "actuating drive speed" or "switch-off
positioning"). The function block interconnection is shown in detail on the application level.
 Tip!
Every application block features so-called "free inputs and outputs" which you can use to
transfer signals from the I/O level to the application level and vice versa.
• In the Lenze setting, these connectors are hidden in the function block editor.
• These connections can be shown via the Connector visibilities command in the Context
menu of the application block.
16.1 Basics
________________________________________________________________
16.1.2 Conventions used for input/output identifiers
This chapter describes the conventions used for the identifiers of the inputs/outputs of the blocks.
The conventions ensure a uniform and consistent terminology and make reading and
comprehending the interconnection and application easier.
 Tip!
The conventions used by Lenze are based on the "Hungarian Notation". This ensures that
the most significant characteristics of the corresponding input/output (e.g. the data type)
can be instantly recognised from its identifier.
An identifier consists of
• a data type entry
• an identifier (the "proper" name of the input/output)
• an (optional) signal type specification
Data type entry

The data type entry provides information about the data type of the corresponding input/output:
Data type entry Meaning Resolution Value range

b BOOL 1 bit 0 ≡ FALSE / 1 ≡ TRUE
dn DINT 32 bits -2147483647 ... 2147483647
n INT 16 bits -32767 ... 32767
w WORD 16 bits 0 ... 65535
Identifier
The identifier is the proper name of the input/output and should indicate the application or
function.
• Identifiers always start with a capital letter.
• If an identifier consists of several "words", then each "word" must start with a capital letter.
• All other letters are written in lower case.
16.1 Basics
________________________________________________________________
Signal type entry

In general, it is possible to assign a certain signal type to the inputs and outputs of the Lenze
function blocks. There are e.g. digital, scaled, position, acceleration and speed signals.
• A corresponding ending (preceded by an underscore) is added to the identifier of the
corresponding input/output to indicate the signal type.
Signal type entry Meaning Resolution Value range

& port symbol
in the FB Editor
_a  Analog/scaled 16 bits ± 199.99 %

_v / Angular velocity 16 bits ± 30000.0 rpm
_p / Position 32 bits -231 ... 231-1 increments
 Digital (BOOL) 8 bits 0 ≡ FALSE; 1 ≡ TRUE
Other (WORD) 16 bits 0 ... 65535
 Other (DINT) 32 bits -2147483647 ... 2147483647
16.1.3 Scaling of physical units
With regard to the parameter setting & configuration of the controller it is very helpful to know the
signal types and their scaling listed in the following table, which are used to process physical values
(e.g. an angular velocity or position) in the function block interconnection.
Signal type entry Meaning Scaling

& port symbol
in the FB Editor External value ≡ internal value
_a  Analog/scaled 100 % ≡ 214 ≡ 16384
_v / Angular velocity 15000 rpm ≡ 214 ≡ 16384
_p / Position 1 encoder revolution ≡ 216 increments
16.2 User interface
________________________________________________________________
16.2 User interface
 How to access the FB Editor:

1. Go to Project View and select the 8400 controller.
2. Go to Workspace and select the FB Editor tab.
The FB Editor displays the wiring of the technology function selected in C00005. The
interconnection of the I/Os of the controller depend on the control mode selected in
C00007.
The user interface of the FB Editor includes the following control and function elements:
 Toolbar  Search function  Level selection  Editor view/overview

 Drawing area  Context menu  Status bar Not shown:
Overview window
 Tip!
Go to the »Engineer« toolbar and click the icon to hide the Project View and the Message
Window. This increases the Workspace available for the FB Editor. A renewed click on the
symbol shows the Project View and the Message Window again.
16.2 User interface
________________________________________________________________
16.2.1 Toolbar
The FB Editor is provided with an individual toolbar in the upper position which in the following text
is called FB Editor toolbar.
• Click an icon to execute the corresponding function.
Icon Function
Insert function block or system block
Inserting a function block ( 879)
Inserting a system block ( 881)
Inserting a port block ( 883)
Adjusting online and offline interconnection ( 902)
Acknowledge error in the interconnection / reload interconnection
Correct interconnection
Start online monitoring
Interrupt online monitoring
Close online monitoring
Enlarge view of interconnection
Reduce view of interconnection
Enlarge cutout of interconnection
Show total interconnection in the drawing area
Show print view
Printing the interconnection ( 903)
Search function ( 866)
16.2 User interface
________________________________________________________________
16.2.2 Search function
Use the search function to get quickly to a certain module of the interconnection.
• The list field of the search function contains all function blocks, system blocks, and port blocks
of the interconnection:
• When you select a module in the list field, this module is zoomed in and selected at the same
time (the following example shows the LS_DigitalInput system block):
16.2 User interface
________________________________________________________________
 Tip!
You can also enter any search text in the input field.
• If you click the icon, the cutout is moved to the object which contains this search text.
• Another click on the icon leads to a new search. Thus, you can navigate successively
to all objects which contain the entered search text.
• The search text does not consider case sensitivity.
16.2.3 Level selection
Go to the Level selection list field and select the interconnection level to be displayed.
"I/O interconnection" level

This level displays only the I/O interconnection of the currently selected technology application for
a better overview.
• Details of the application are masked out in this level.
• The interconnection of the I/Os of the controller with the inputs and outputs of the application
in detail depends on the control mode selected in C00007.
• The parameterisation dialogs on the Application parameter tab correspond to the application
block displayed in this level.
[16-5] Schematic diagram of "I/O interconnection"
16.2 User interface
________________________________________________________________
"Application interconnection" level

This level displays the interconnection of the application selected in C00005 in detail. All function
blocks used in the application and the system blocks which provide the interfaces to the drive and
motor interface and to the MotionControlKernel (MCK) are displayed with their connections.
• The interconnection of the I/Os of the controller with the inputs and outputs of the application
is masked out in this level.
[16-6] Schematic diagram of "Application interconnection"
 Tip!
Every application block features so-called "free inputs and outputs" which you can use to
transfer signals from the I/O level to the application level and vice versa.
• In the Lenze setting, these connectors are hidden in the function block editor.
• These connections can be shown via the Connector visibilities command in the Context
menu of the application block.
"Free interconnection" level

This level serves to implement an individual drive solution for the device versions "StateLine C"
(from version 12.00.00 and »Engineer« V2.17), "HighLine C" and "TopLine C".
 Note!
When you select the "Free interconnection" level for the first time, you are prompted to
confirm whether the interconnection from the I/O level and the application level are to
be combined and copied into this level.
When you confirm this confirmation prompt with Yes, the I/O level and the application
level are not available anymore. This action can only be undone by resetting the
application to a predefined Lenze application! Resetting changed interconnection
( 901)
16.2 User interface
________________________________________________________________
16.2.4 Editor view/overview
Use the list field at the top right to change from the Editor to the overview and vice versa.
The overview shows all function blocks used of the interconnection in the upper list field in the order
of their processing. The lower list field shows all used system blocks.
• The processing order of the function blocks can be optimised manually or according to an
automatically generated selection. Changing the processing order ( 896)
16.2 User interface
________________________________________________________________
16.2.5 Context menu
You can open a context menu via the right mouse button for each object (function block, system
block, line, comment, etc.) and for the drawing area:
• The contents of the context menu depend on the type of object you click on.
• Example: Context menu for a function block:
16.2.6 Status bar
The status bar of the FB Editor shows, among other things, information about the system load and
the error status of the interconnection:
Icon Meaning
 System load
Here: out of the available computing time of 610 μs, 226 μs are required by the application.
 Error status of the interconnection

The interconnection has no errors and no warnings
The interconnection has errors and/or warnings
 Communication status
Offline
Online
Communication error
 Adjustment status
Offline and online interconnection match
Offline and online interconnection are different
 Update rate for monitoring values
16.2 User interface
________________________________________________________________
16.2.7 Overview window
The overview window shows the drawing area in a reduced view. The overview window serves to
e.g. move quickly through a more complex interconnection.
 How to show the monitor window:

Go to the Context Menu of the drawing area and select the Overview Window.
• If you execute this command again, the overview window is hidden again.
• The green frame in the overview window indicates the interconnection cutout that is currently
displayed in the drawing area.
• Use the mouse pointer to shift and resize the cutout to be displayed.
 How to shift the cutout presented in the drawing area:

1. Position the mouse pointer to the green frame in the overview window.
• The mouse pointer symbol becomes a positioning cross.
2. Click left mouse button and shift the green frame to its new position by keeping the mouse
button pressed, so that the desired cutout of the interconnection is displayed in the
drawing area.
16.2 User interface
________________________________________________________________
 How to redefine the cutout to be presented:

In the overview window draw a frame around the area of the interconnection which is to
be presented in the drawing window by keeping the left mouse button pressed:
• The aspect ratio of the frame is automatically adapted to the aspect ratio of the drawing
area.
• According to the size of the frame that is drawn, also the presentation size of the objects
in the drawing area changes.
 Tip!
Go to the FB Editor toolbar and click the icon to adapt the view size so that all objects
included in the interconnection are visible in the drawing area.
Automatic scroll ("AutoScroll function")
If you reach a window limitation in the drawing area when shifting an object or in the
overview window when shifting the green frame, and if you then shortly hold the mouse
pointer in this position, an automatic scrolling into the corresponding direction is carried
out:
16.3 Using the FB Editor as "Viewer"
________________________________________________________________
The main purpose of the FB Editor is the individual configuration of the selected technology
application. However, you can also use the FB Editor to
• make a diagnosis of the application (when an online connection has been established),
• get a better understanding for the operating mode of the application,
• use the interconnection as an alternative parameterisation access.
Diagnostics of the application

When an online connection to the controller has been established, the current values are displayed
at the inputs and outputs of the objects.
• Process-scaled signals can be scaled in a "user-defined" way for easy diagnostics in the FB Editor.
Change online display format ( 876)
Getting a better understanding for the operating mode of the application

Make yourself familiar with the signal flow of the interconnection to get a better understanding of
the operating mode of the application or individual functional areas.
• The " symbol in the head of the block or the Help command in the context menu for the block
serve to open the online help for the block.
Using the interconnection as an alternative parameterisation access
• The icon in the head of the module, a double-click on the module, or the Parameter...
command in the Context menu of the module serve to open the parameterisation dialog or the
parameter list for the module.
________________________________________________________________
16.3.1 Following connections of inputs and outputs
In addition to the Search function you can use the context menu of inputs and outputs to follow
connections and quickly reach certain signals.
 How to navigate from one output to another connected input:

1. Open the context menu (right mouse button) of the port symbol at the output.
• The context menu for the port symbol contains all inputs which are connected to the
output:
2. Select input in the context menu to which you want to navigate.

• As a result, the selected input is displayed in the centre of the drawing area (in this
example: nGPAnalogSwitchOut_a):
________________________________________________________________
 How to navigate from one input to another connected output:

If the input is connected to a flag:
• Double-click the flag:
If the input is connected to a line:

1. Open the context menu (right mouse button) of the port symbol at the output:
2. Select output in the context menu.

• Since an output can only be connected to an input, the context menu contains only an
output.
The output is displayed in the centre of the drawing area.
16.3.2 Keyboard commands for navigation
Keyboard command Function

<Picture> Scroll up
<Picture> Scroll down
<Shift> + <picture> Scroll to the left
<Shift> + <picture> Scroll to the right

<POS1> Scroll to the left edge of the interconnection
<END> Scroll to the right edge of the interconnection
<Ctrl> + <Pos1> Scroll to the left upper corner of the interconnection
<Ctrl> + <End> Scroll to the right lower corner of the interconnection
________________________________________________________________
16.3.3 Change online display format
For online monitoring in the FB Editor the display format of the input and output data of a block can
be adapted individually. Process-scaled signals can be scaled in a "user-defined" way for easy
diagnostics in the FB Editor. Thus, the display of these signals gets a process reference.
 How to change the data display format of block inputs/outputs:

1. Go to the context menu of the block and select the Online display format command.
• Tip: You can call the context menu of a block by clicking with the right mouse button on
the header of the block.
• The Display format dialog box is displayed:
2. Select the inputs/outputs from the list the display format of which is to be changed.
• Note: In the Global format setting list field the "---" entry must be selected so that the
display format can be changed.
• If you click further inputs/outputs while pressing <Ctrl> they are added to an already
existing selection (multi-selection).
• The <Shift> key serves to select a related area of inputs/outputs.
• More functions:
Display masked out connections
Display additional information
Select all inputs/outputs
Reset all format information
________________________________________________________________
3. Click the symbol to edit the display format of the selected inputs/outputs.
• The Edit display format dialog box is displayed:
4. Go to the Display format list field and select the "User-defined" entry.
5. Go to the Format template list field and select "No template".
6. Select the required scaling, unit, number of decimal positions, and sign handling.
7. Click OK to accept the settings and close the Edit display format dialog box.
• The Display format dialog box now displays the text "User-defined" for the changed
inputs/outputs in the Format column.
After all required formats have been changed:
8. Click Back to close the Display format dialog box.
• For online monitoring, the changed format is used.
16.4 Reconfiguring the predefined interconnection
________________________________________________________________
How to proceed:
1. Insert additionally required objects into the interconnection.
2. Hide unneeded inputs/outputs of function blocks and system blocks to obtain a clearly
arranged interconnection.
3. Arrange the objects in the drawing area in a reasonable manner.
4. Establish the connections required for the desired function.
5. If required, change (optimise) the processing order of the function blocks.
 Tip!
Detailed information on the individual steps can be obtained from the following
subchapters!
 Note!
With the "StateLine" version, the interconnection shown in the application level cannot
be edited.
16.4.1 Inserting/Deleting objects
Objects can be inserted in the interconnection via the FB Editor toolbar and the context menu of the
drawing area. The following subchapters provide detailed information on how to insert/delete the
different objects.
Icon Function
Inserting a function block ( 879)
Inserting a system block ( 881)
Inserting a port block ( 883)
Inserting a comment ( 885)
 Tip!
Use the context menu of the drawing area to insert a function block, system block, port
block or comment directly to the current position of the mouse pointer in the drawing area.
If you insert an object via the corresponding icon in the FB Editor toolbar, the object is
always placed at the top left corner in the drawing area.
Interconnection elements cannot only be copied within the same interconnection but also
across all devices within the same project, as long as the devices stem from the same
product family. Copying interconnection elements (across all devices) ( 898)
________________________________________________________________
16.4.1.1 Inserting a function block
 Note!
In the FB Editor, function blocks are only available in the "Application interconnection"
level!
 How to insert a function block into the interconnection:

1. In the FB Editor toolbar, click the icon.
• The Insert Function Block dialog box appears:
2. Unless it is already displayed, select the Function Blocks tab.
• All function blocks available are displayed in the Search results list field.
• A preview of the selected function block is displayed.

• A detailed description of all available function blocks can be found in the main chapter
"Function library". ( 909)
3. If required, define Search criteria to narrow down the available function blocks:
• Block name:
String which must be contained in the name of the function block.
4. After changing the search criteria, press the Find button to update the selection.
• Then, only the function blocks complying with the features set in the search criteria are
shown in the Search Results list field.
• If no search criteria are set, all function blocks available are shown.
5. Select the function block to be inserted in the Search results list field.
________________________________________________________________
6. Press Insert button.

• The dialog box is closed and the selected function block is inserted into the
interconnection.
Context menu for the function block

If you right-click on the header of a function block, a context menu opens via which you can execute
the following functions in addition to the general processing functions (Copy, Insert, Delete):
Command Function
Center Move the visible cutout of the drawing area so that the block is centred.
Connector visibilities... Define visible inputs and outputs of the block.

Changing connector visibilities ( 888)
Online display format... Adapt the display format of the input and output data of the block
individually for online monitoring.
Parameter... Open the parameter list/parameterisation dialog for the block.
• Only if function block is parameterisable.
Help Show online help for the block.
Related topics
Deleting objects that are no longer required ( 887)
Arranging objects in the drawing area ( 889)
Creating/deleting connections ( 890)
Changing the processing order ( 896)
________________________________________________________________
16.4.1.2 Inserting a system block

A system block is inserted similarly to the way a function block is inserted.
 How to insert a system block into the interconnection:

• The Insert Function Block dialog box appears:
2. Unless it is already displayed, select the System Blocks tab.
• All system blocks available are displayed in the Search results list field.
• A preview of the selected function block is displayed.

3. If required, define Search criteria to accordingly narrow down the system blocks available:
• Block name:
String which must be contained in the name of the system block.
• Then, only the system blocks complying with the features set in the search criteria are
• If no search criteria are set, all system blocks available are shown.
________________________________________________________________
5. Select the system block to be inserted in the Search results list field.
• The dialog box is closed and the selected system block is inserted into the
interconnection.
Context menu for the system block

If you right-click on the header of a system block, a context menu opens via which you can execute
the following functions in addition to the general processing functions (Copy, Insert, Delete):
Command Function

Related topics
________________________________________________________________
16.4.1.3 Inserting a port block

All input/output ports defined for the application on the Ports tab can be inserted into the
interconnection in the form of port blocks in order to get access to the associated element variables.
 Tip!
You can change between the Ports and FB Editor tabs at any time to define new ports and
afterwards insert them into the interconnection.
 How to insert a port block into the interconnection:

• The Insert port block dialog box appears.
• All port blocks available are displayed in the Search results list field.
• A preview of the selected port block is displayed.

2. If required, define search criteria to accordingly narrow down the port blocks available:
• Block name:
String which must be contained in the name of the port block.
• Then, only the port blocks complying with the features set in the search criteria are
• If no search criteria are set, all port blocks available are shown.
4. Select the port block to be inserted in the Search results list field.
• The dialog box is closed and the selected port block is inserted into the interconnection.
________________________________________________________________
Context menu for the port block

If you right-click on the header of a port block, a context menu opens via which you can execute the
following functions in addition to the general processing functions (Copy, Insert, Delete):
Command Function

Related topics
________________________________________________________________
16.4.1.4 Inserting a comment

Comments can be inserted at any position in the drawing area.
As of the »Engineer« V2.10, the interior colour and text alignment of a comment can be changed via
a properties dialog. Now the sizes of comments can also be changed using the mouse pointer. When
using different interior colours you can use comments to graphically arrange areas that belong
together in terms of function or separate them from other areas:
[16-7] Example: Graphical arrangement of FBs by means of two comments that overlap.
 Note!
The term "Arrangement" does not mean a logical arrangement of the function blocks.
The comments are only graphical presentation elements of the FB Editor.
 How to insert a new comment into the interconnection:

1. Move the mouse pointer to the (free) position in the drawing area where the comment is
to be inserted.
2. Go to the Context menu (right mouse key) and select the New comment command.
• The Properties dialog box is displayed:
3. Enter the required comment into the text field.

4. Optional: Change preset interior colour.
• For this purpose, click the left Change... button to open the Colour dialog box to select
another interior colour.
________________________________________________________________
5. Optional: Change preset text alignment.

• For this purpose, click the right Change... button to open the Text alignment dialog box
to select another text alignment.
6. Press OK to close the Properties dialog box and insert the comment.
• After being inserted, the corner points of the comment are shown:
7. Optional: Change size of the comment.

• For this purpose click one of the corner points with the left mouse button and enlarge
the comment to the required size with the mouse button pressed.
8. Optional: Drag comment.

• For this purpose click the comment with the left mouse button and move the comment
to the required position with the mouse button pressed.
 Tip!
The Properties dialog box for a comment already available can be opened by double-clicking
the comment.
Related topics
________________________________________________________________
16.4.1.5 Deleting objects that are no longer required

Objects that are no longer required can be easily deleted again. "Delete" only means that the object
is removed from the drawing area. If you have deleted an object from the drawing area, you can
reinsert it any time into the interconnection.
 Note!
Deleting an object cannot be undone.
Together with the object, all available connections to this object are deleted.
 How to delete objects that are no longer required:

1. Select objects to be deleted.
• You can select a single object by clicking the header of the object.
• You can select objects that are placed together by drawing a frame around these objects
while keeping the mouse button pressed.
• If you click the header of further objects while pressing <Ctrl>, these will be added to an
already existing selection (multi-selection).
• All selected objects are highlighted by a light green header.
2. Press <Del>.
Related topics
Deleting connections that are no longer required ( 895)
________________________________________________________________
16.4.2 Changing connector visibilities
Inputs and outputs that are not connected can be hidden for each block. This serves to reduce the
dimension of the block. The interconnection becomes clearer.
 How to define the visible inputs and outputs:

1. Go to the context menu of the block and select the Connector visibilities command.
• The Define Visible Inputs and Outputs for Function Blocks is displayed:
• All visible connections have a checkmark.

• In case of a block that is inserted anew, all inputs and outputs are visible at first.
• Inputs and outputs with a light grey checkbox are already connected and thus cannot be
hidden.
2. By setting/removing the checkmarks or via the buttons you can define the visible inputs
and outputs.
3. Press OK to accept the selected definition and close the dialog box.
________________________________________________________________
16.4.3 Arranging objects in the drawing area
All objects can be freely arranged in the drawing area by dragging with the mouse.
We recommend to make an arrangement in which the required connections between the inputs
and outputs can be created easily. A division into functional areas may also be sensible to get a
better understanding of the application.
Objects which are already connected, can also be dragged to another (free) position in the drawing
area. The available connections will be automatically re-routed after dragging.
 How to drag an object:

1. Click the header of the object (and keep the button pressed).
2. Keep the button pressed and drag the object to the required position in the drawing area.
• Via <Esc> you can cancel this action.
 How to drag several objects at the same time:

1. Select the objects to be dragged.
• You can easily select objects that are placed together by drawing a frame around these
objects while keeping the mouse button pressed.
2. Keep the mouse button pressed on the header of one of the selected objects and drag it to
the required position in the drawing area.
 Note!
A red header indicates that the object overlaps with other objects in the drawing area!
Arrange the objects so that no overlap occurs.
________________________________________________________________
16.4.4 Creating/deleting connections
After adding objects and arranging them in a reasonable manner within the drawing area, you can
create the connections between the available objects which are required for the desired function.
A connection always has a direction and therefore always has a source and a target.
• An output represents a possible source in

/B5/4B " /B25B "
the interconnection.
E&Z E4VS E,Q E2XW
• An input represents a possible target in the
interconnection. E&FZ E&Z&FZ E,Q
Permissible/impermissible connections
Several connections can lead from one output.
• Therefore it is always possible to start a

/B5/4B " /B25B "
new connection from an output.
E&Z E4VS E,Q E2XW
E&FZ E&Z&FZ E,Q
However, maximally one connection may end in an input.
• Therefore it is only possible to start a new

/B5/4B " /B25B "
connection from an input if there is no
E&Z E4VS E,Q E2XW
connection already ending in this input.
E&FZ E&Z&FZ E,Q
Only inputs/outputs of the same signal type can be connected.
• Thus, a connection between different port

/B'7B " /B25B "
symbol cannot be established.
Q,QBD Q2XWBD E,Q E2XW
E,Q
From the »Engineer« V2.12 "Analog/scaled" (_a) and "Miscellaneous (WORD)" signal types can also
be interconnected.
• The implicit type conversion is indicated by

/B1/LPB " /B$GG6XEB "
a vertical black bar at the port symbol.
E(QDEOH Z6WDWH Q,QBD Q2XWBD
Q,QBD Q2XWBD Q,QBD
E/LPLW$FWLYH Q,QBD
From the »Engineer« V2.13 "Analog/scaled" (_a) and "Angular velocity" (_v) signal types can also be
interconnected.
________________________________________________________________
Connection types
Connections can either be created by means of connection lines or port identifiers ("flags")
[16-8] Example 1: Connection via connection line
[16-9] Example 2: Connection via flags
 Tip!
The commands Show as flag or Show as line in the context menu of a connection serve to
change the representation of the connection at any time.
When an output is connected to several inputs via flags, three points are displayed ("...") at
the output instead of the concrete input identifier. The context menu of the port symbol
shows all inputs which are connected to the output.
________________________________________________________________
16.4.4.1 Creating a connection using the connection line
 How to create a connection using the connection line:

1. Click the port symbol from which the new connection is to be started.
• It is only possible to start a new connection from an input if there is no connection
already ending in this input.
• If you then move the mouse pointer away from the port symbol, a new connection is
"drawn" from this port symbol.
2. Click the port symbol where the connection is to end.
• Thereupon the corresponding connection is routed automatically if the connection is
permissible.
 Tip!
If you move the mouse pointer across the port symbol while drawing a new connection, you
can see whether the connection is permissible or not from the colour of the drawn line and
from the mouse pointer symbol.
• Permissible connection:
• Impermissible connection (different port symbol):
The command Show as flag in the context menu of a line serves to change the
representation of the connection at any time.
________________________________________________________________
16.4.4.2 Creating a connection using port identifiers
 How to create a connection with port identifiers:

1. Click the port identifier.
• The selected port is highlighted in light green:
2. Drag the port segment to the required port while keeping the left mouse button pressed:
After releasing the mouse button, the connection via port identifiers (flags) is created. The
corresponding port identifier consists of the block name and the name of the input/output:
 Tip!
The command Show as line in the context menu of a flag serves to change the
representation of the connection at any time.
________________________________________________________________
16.4.4.3 Creating a connection via connection dialog

You can also create connections by means of a selection dialog instead of dragging by mouse. This
especially makes sense if there is a great distance between the ports to be connected in the drawing
area.
 How to create a connection using the selection dialog:

1. Right-click the port identifier or click the port symbol from which the connection is to start.
• The context menu for the port is displayed.
2. Go to the context menu for the port and select the Add/change connection... command.
• The Add/change connection dialog box is displayed:
• In a tree structure all inputs and outputs of the application are shown to which a
connection is permissible.
• You can enter an optional text into the Filter input field to reduce the selection to the
blocks or ports which contain the entered text.
• If you activate the Show hidden ports control field, the hidden ports for system and
function blocks are shown as well.
3. Select the port where the connection is to end from the tree structure.
4. Activate the Add connection as flag control field if a port identifier (flag) is to be inserted
instead of a connection line.
5. Press OK to create the connection to the selected port and close the dialog box.
________________________________________________________________
16.4.4.4 Deleting connections that are no longer required
 How to delete connection lines:

1. Select connection lines to be deleted.
• Select a single connection line by directly clicking on the connection line with the right
mouse button.
• If you click further connection lines while pressing <Ctrl> they are added to an already
• All connection lines are highlighted in red.
2. Press <Del>.
 How to delete port identifiers/flags:

1. Select the port identifiers to be deleted.
• Select a single port identifier by directly clicking on the port identifier with the left
mouse button.
• If you click further port identifiers while pressing <Ctrl> they are added to an already
• All selected port identifiers are highlighted by a light green header.
2. Press <Del>.
Related topics
________________________________________________________________
16.4.5 Changing the processing order
If you insert a function block into the interconnection, an order index is automatically assigned to
this function block. By means of this order index it is defined in which order the individual function
blocks are calculated at runtime.
• The first function block inserted contains the order index "1", the next function block inserted
contains the order index "2", etc.
• The respective order index is displayed in the header of the function block in the rectangle after
the block name.
[16-10] Example: Function blocks with order index
 Note!
When a function block is shifted, its order index is maintained.
The processing order influences the result!
• In certain cases it may be sensible to change the processing order, but if you select an
unfavourable processing order, errors may arise!
________________________________________________________________
 How to change the processing order manually:

1. Use the list field at the top right to change from the Editor to the overview.
• The overview displays all function blocks of the interconnection in the order of their
processing
• In the first "Order" column the order index of each function block is listed.
2. Unless already selected, select the entry "Manual selection" in the Optimisation... list field.
3. Select the function block which is to receive a different position within the processing
order.
• If you click further function blocks while pressing <Ctrl> they are added to an already
• The <Shift> key serves to select a related area of function blocks.
4. Move the function block(s) to the desired position using the and buttons.
• The button serves to exchange two selected function blocks with regard to their
order.
5. Repeat steps 3 and 4 until the required processing order has been established.
________________________________________________________________
Changing the processing order according to an automatically generated selection

In addition to the manual selection, the Optimisation... list field also offers two options for an
automatic adaptation of the processing order:
• Signal flow: The processing order is optimised according to the signal flow.
• Topology: The processing order is optimised according to the x/y arrangement of the function
blocks in the FB Editor.
As long as an automatic adaptation has been selected, a manual change of the processing order is
not possible.
16.4.6 Copying interconnection elements (across all devices)
Interconnection elements can be copied across the devices within the project if the devices belong
to the same product family (e.g. Inverter Drives 8400).
All types of blocks and comments can be copied to the clipboard via the Copy command or the
<Ctrl>+<c> shortcut and then be inserted into the FB interconnection of the same or another project
device of the same product family using the Paste command or the <Ctrl>+<v> shortcut.
• During the copy process into the clipboard, existing connections between copied blocks are
copied as well, and the layout is kept too. Moreover, the separate technical objects (e.g port
definition) are copied. Selected connections cannot be copied on their own.
• The Paste command is available if the clipboard is not empty and if it was copied from a device
of the same product family. Within this product family, all device types (e.g. 8400 xxxxLine
Vxx.xx) are permitted.
• After the Paste command has been selected, a dialog box is displayed which serves to select
which elements are to be inserted from the clipboard and how to solve name conflicts, if any.
• After inserting the elements, they are marked in the target interconnection in order to be
repositioned or deleted again to undo the insertion.
• Inserting from the clipboard can be repeated. The originally copied contents of the clipboard
remains unchanged when it is inserted.
 How to copy one or several interconnection elements:

1. Select the objects to be copied.
• You can easily select elements that are placed together by drawing a frame around these
elements while keeping the mouse button pressed.
2. Go to the context menu and select the Copy command (or <Ctrl>+<c>).
• The selected elements are copied into the clipboard of the FB Editor.
3. If the elements are to be copied into a function block interconnection of another project
device, change to the corresponding interconnection via the project view.
4. Go to the context menu and select the Paste command (or <Ctrl>+<v>).
5. Go to the Insert FB interconnection dialog box and select the elements to be inserted from
the clipboard.
• Detailed information on this dialog box can be obtained from the following subchapter
"Insert options for copied elements". ( 900)
________________________________________________________________
6. Click Insert to insert the selected elements into the target interconnection as defined.
• Only possible if at least one element in the list has been selected for insertion.
• Insertion is also possible via the <Enter> button if at least one element is selected from
the list for insertion.
• The original layout and the relative position of the inserted blocks to each other are
maintained.
• When copying across the devices, you also insert the corresponding separate technical
objects (e.g. port definition).
• The inserted elements are deleted from the list. If the list is empty, the dialog box is
closed and the connections are inserted depending on the selected option.
7. If there are still elements to be entered in the list, repeat steps 5 and 6 until all elements are
inserted as intended.
8. Press Close to stop the insertion and close the dialog box.
• You can also use <Esc> or <Enter> to close the dialog box if "Insert" is not active.
• The elements inserted into the target interconnection so far are maintained.
• The connections for the blocks inserted so far are inserted depending on the selected
option.
________________________________________________________________
16.4.6.1 Insert options for copied elements

If interconnection elements have been copied to the clipboard, the »Engineer« will display a list of
all elements contained in the clipboard when selecting the command Insert in the Insert FB
interconnection dialog box:
The list shows the elements which can be added to the target interconnection, and the elements
which cannot be added.
• In the "Selection" column, you can check/uncheck the elements to be added.
• Connections are only inserted when the dialog box is closed, which applies to all modules
inserted so far. They are displayed as lines or flags, like in the original, but re-routed.
• The symbols in the Toolbar serve to execute the following functions:
Icon Function
Add the selected elements to the interconnection
Show the elements to be added but are marked with an error or warning.
Show the elements not to be added and marked with an error or warning.
Show blocks
Show connections
Show parameters
Show comments
Show system elements
Show all
Print view
Print list
________________________________________________________________
• The buttons serve to execute the following functions:
Button Function
Insert Add elements selected in the list to the target interconnection
• Only possible if at least one element in the list has been selected for insertion.
• Insertion is also possible via the <Enter> button if at least one element is selected from
the list for insertion.
• The original layout and the relative position of the inserted blocks to each other are
maintained.
• When copying across the devices, you also insert the corresponding separate technical
objects (e.g. port definition).
• The added elements are simultaneously deleted from the list. The connections are added
depending on the selected option.
Close Close dialog box.
• You can also use <Esc> or <Enter> to close the dialog box if "Insert" is not active.
• The elements inserted into the target interconnection so far are maintained.
• The connections for the blocks inserted so far are inserted depending on the selected
option.
16.4.7 Resetting changed interconnection
If you only made changes on the I/O level, you can reset them by selecting a predefined control
scheme in C00007. If you have also made changes on the application level, you must first reset the
changed application to a predefined application in C00005.
 How to reset the application interconnection to a predefined application:

2. Select the required application in the Application list field.
 How to reset the I/O interconnection to a predefined control scheme:

2. Select the required control scheme in the Control source list field.
16.5 Adjusting online and offline interconnection
________________________________________________________________
16.5 Adjusting online and offline interconnection
If the »Engineer« detects that online and offline interconnection differ from each other, the
Compare interconnection dialog box is displayed with various options for the adjustment:
 Tip!
The dialog box can also be opened via the symbol in the FB Editor toolbar.
Button Function
Accepting the interconnection from Add the interconnection in the device to the FB Editor. The interconnection
the device existing in the FB Editor will be overwritten by this action.
Transferring the interconnection to Transfer the offline interconnection which is currently not visible in the FB
the device Editor to the device. The interconnection existing in the device will be
overwritten by this action.
Showing differences Showing differences between online and offline interconnection.
Cancel Close the Adjust interconnection dialog box without making an adjustment.
16.6 Printing the interconnection
________________________________________________________________
16.6 Printing the interconnection
The interconnection can be printed for documentation purposes, optionally on one page, on four
pages, or not scaled.
 Tip!
By clicking the icon in the FB Editor toolbar, you can get a print view before printing.
 How to print the interconnection:

• The Circuit print size dialog box is displayed.
2. Select the desired size and press OK.
• The standard dialog box Print appears.
3. Press OK to start the printing process.
16.7 Comparing interconnections
________________________________________________________________
The comparison operation serves to compare FB interconnections of 8400 devices within the
project. An offline<>online comparison and the comparison of two online devices are possible.
 Note!
Only applications can be compared which have been enabled in the FB Editor!
Block positions, line representations, and connector visibilities are not compared.
 How to compare two FB interconnections:

1. Select the command Application dataCompare FB interconnections....
• The Compare FB interconnections dialog box is displayed:
2. Select the interconnections to be compared in the project view represented on the left and
right.
• In order to execute a comparison with an online device, select "Online" in one of the two
upper list fields. Then all available online devices are displayed for selection.
• If you select "Online" in one of the two upper list fields, you can also compare the
interconnections of two available online devices.
3. Click Compare.
• If the comparison was executed successfully, the comparison result is displayed as a list
(see the following section).
• If a comparison of the selected interconnections is not possible, a corresponding
message is displayed.
4. In order to stop the comparison operation and close the dialog box: Press
Back.
________________________________________________________________
Representation of the comparison result

The comparison result is displayed in the form of a list in the FB interconnection comparison dialog
box:
• The symbols in the Toolbar serve to show or hide different details and export and print the
shown list.
Icon Function
Only show differences
• Button can only be activated in expert mode.
Show blocks
Show connections
Show processing order
Show properties of blocks and connections

• Function is only available in expert mode.
Show comments
Show block parameters
Show application parameters
Show all
Show general information
Show summary
________________________________________________________________
Icon Function
Activate expert mode
• In the expert mode, also non-functional differences are shown.
Apply filter
• Only show list entries which contain the text entered in the input field.
Export shown list as comma-separated list (*.csv)
Print view
Print list
16.8 Copying an interconnection
________________________________________________________________
16.8 Copying an interconnection
In contrast to copying/inserting selected interconnection elements via the clipboard, the function
described in this chapter serves to replace the current FB interconnection of a device completely by
the FB interconnection of another project device.
 Note!
The complete FB interconnection can only be copied between devices of the same device
type and version (e.g. 8400 HighLine C V1.0).
A complete interconnection comprises:

• Function blocks (use and parameter values)
• System blocks (application and parameter values)
• Port blocks (use and parameter values)
• Connections
• Comments
• Interconnection layout (arrangement of the modules)
• Port definition of the ports used in the FB interconnection
 How to copy the complete interconnection into another project device:

1. Select the application with the FB interconnection to be copied in the project view.
2. Select the command Application dataCopy FB interconnections....
3. Go to project view and select the application which is to be inserted into the copied FB
interconnection.
4. Select the command Application dataAdd FB interconnection....
• The command can only be activated if an FB interconnection has been copied from a
device of the same device type and version.
• After the command has been executed, the module assembly is compared. If there are
relevant deviations, the insertion is refused and a corresponding message is displayed.
• If an insertion is possible, you are asked if the FB interconnection is to be inserted.
5. Confirm the question if the copied FB interconnection is to be inserted with Yes.
• After the insertion, an update of the project is required.
16.9 Exporting/Importing an interconnection
________________________________________________________________
16.9 Exporting/Importing an interconnection
The interconnection existing in the project can be exported to a file for reuse/transfer to other
devices.
 Note!
The file can only be imported to devices of the same device type and version (e.g. 8400
HighLine C V1.0).
 How to export the interconnection from the project to a file:

1. Go to the Project view in the context menu of the controller and select the Export FB
interconnection... command.
2. Enter the memory location and the file name for the interconnection to be exported in the
Export FB interconnection dialog box.
3. Click Save to export the interconnection and close the dialog box.
 How to import the interconnection from a file to the project:

1. Go to the Project view in the context menu of the controller and select the Import FB
interconnection... command.
2. Select the file with the interconnection to be imported in the Import FB interconnection
dialog box.
3. Click Open to import the interconnection and close the dialog box.
17 Function library
17.1 Function blocks
________________________________________________________________
17 Function library
This chapter describes the function blocks which are available for the controller in the FB Editor.
 The system blocks are described in the following chapter "System blocks". ( 990)
Overview of function blocks available
Function block Runtime Function

L_Absolute_1 2 μs ... converts a bipolar input signal into a unipolar output signal.
L_AddSub_1 3 μs ... adds / subtracts analog input signals.
L_AnalogSwitch_1 2 μs ... switches between two analog input signals.
L_AnalogSwitch_2
L_AnalogSwitch_3
L_And_1 2 μs ... ANDs three binary signals.
L_And_2
L_And_3
L_Arithmetik_1 7 μs ... combines two analog signals arithmetically.
L_Arithmetik_2 • L_Arithmetik_2 is available from version 11.00.00 onwards.
L_Compare_1 5 μs ... compares two analog signals and can be used e.g. to implement a
L_Compare_2 trigger.
L_Compare_3 • L_Compare_3 is available from version 11.00.00 onwards.
L_DFlipFlop_1 1 μs ... provides two stable states depending on the input signals.
L_DigitalDelay_1 2 μs ... delays binary signals.
L_DigitalLogic_1 2 μs ... provides a binary output signal which is generated by the logic
L_DigitalLogic_3 combination of three input signals.
• L_DigitalLogic_3 is available from version 11.00.00.
L_GainOffset_1 3 μs ... can amplify an analog input signal and then add an offset to it.
L_GainOffset_2 • Gain and offset can be set via FB inputs.
L_GainOffset_3
L_Interpolator_1 5 μs ... can interpolate a position setpoint and/or an analog value e.g. to
compensate for larger bus transmission cycles or to continue signal
characteristics if data telegrams are missing.
L_JogCtrlExtension_1 5 μs ... can be connected upstream to the L_NSet ramp generator to
implement a switch-off positioning at limit switch.
L_MPot_1 10 μs ... replaces a hardware motor potentiometer as setpoint source.
L_MulDiv_1 4 μs ... multiplies the analog input signal with a factor.
L_Negation_1 2 μs ... negates an analog input signal.
L_Not_1 2 μs ... inverts a digital input signal.
L_Not_2
L_Not_3
L_NSet_1 50 μs ... contains a ramp generator with comprehensive parameterisation and
control options to condition a setpoint signal.
L_OffsetGain_1 4 μs ... can add an offset to an analog input signal and amplify it afterwards.
L_OffsetGain_2 • Offset and gain can be set via FB inputs.
L_OffsetGainP_1 17 μs ... can add an offset to an analog input signal and amplify it afterwards.
L_OffsetGainP_2 • Offset and gain can be set via parameters.
L_OffsetGainP_3
17 Function library
________________________________________________________________
Function block Runtime Function

L_Or_1 2 μs ... ORs three binary signals.
L_Or_2 • L_Or_4 is available from version 11.00.00.
L_Or_3
L_Or_4
L_PCTRL_1 20 μs ... is a PID controller and can be used for various control tasks.
L_PT1_1 1 μs ... filters and delays analog signals.
L_RLQ_1 3 μs ... links a selected direction of rotation to the QSP function with wire-
break protection.
L_SignalMonitor_a 15 μs ... serves to output analog output signals of other FBs, SBs or LAs.
L_SignalMonitor_b 3 μs ... serves to output binary output signals of other FBs, SBs or LAs.
L_Transient_1 3 μs ... evaluates digital signal edges and converts them into timed pulses.
L_Transient_2
L_Transient_3
L_Transient_4
Related topics:
Overview of system blocks available ( 990)
Working with the FB Editor ( 857)
17 Function library
________________________________________________________________
17.1.1 L_Absolut_1
This FB converts a bipolar input signal into a unipolar output signal.
/B$EVROXWB
Q,QBD Q2XWBD
Inputs

Data type
nIn_a Input signal

INT
Outputs
Data type
nOut_a Output signal

INT
17 Function library
________________________________________________________________
17.1.2 L_AddSub_1
This FB is provided with two adding inputs and one subtracting input.
• The value provided at the nOut_a output is internally limited to ±32767.
/B$GG6XEB
Q,QBD Q2XWBD
Q,QBD
r
Q,QBD r
Inputs

Data type
nIn1_a Input signal 1

INT • This input is added
INT • This input is added
INT • This input is subtracted
Outputs
Data type

INT • nOut_a = nIn1_a + nIn2_a - nIn3_a
• Internal limitation to ±32767 (±199.99 %)
17 Function library
________________________________________________________________
17.1.3 L_AnalogSwitch_1
This function block switches between two analog input signals. The switching is controlled via a
boolean input signal.
/B$QDORJ6ZLWFKB
Q,QBD
Q2XWBD
Q,QBD

E6HW
Inputs

Data type

INT

INT
bSet Selection of the input signal for the output to nOut_a

BOOL
FALSE nIn1_a
TRUE nIn2_a
Outputs
Data type

INT
17 Function library
________________________________________________________________
/B$QDORJ6ZLWFKB
Q,QBD
Q2XWBD
Q,QBD

E6HW
Inputs

Data type

INT

INT

BOOL
FALSE nIn1_a
TRUE nIn2_a
Outputs
Data type

INT
17 Function library
________________________________________________________________
/B$QDORJ6ZLWFKB
Q,QBD
Q2XWBD
Q,QBD

E6HW
Inputs

Data type

INT

INT

BOOL
FALSE nIn1_a
TRUE nIn2_a
Outputs
Data type

INT
17 Function library
________________________________________________________________
17.1.6 L_And_1
This FB implements the ANDing of the input signals.
/B$QGB
E,Q E2XW
E,Q
E,Q
Inputs

Data type
bIn1 Input signal

bIn2
bIn3
BOOL
Outputs
Data type
bOut Output signal

BOOL
Function
Inputs Output
bIn3 bIn2 bIn1 bOut
FALSE FALSE FALSE FALSE
FALSE FALSE TRUE
FALSE TRUE FALSE
FALSE TRUE TRUE
TRUE FALSE FALSE
TRUE FALSE TRUE
TRUE TRUE FALSE
TRUE TRUE TRUE TRUE
[17-1] Truth table of the FB L_And_1
17 Function library
________________________________________________________________
17.1.7 L_And_2
/B$QGB
E,Q E2XW
E,Q
E,Q
Inputs

Data type
bIn1 Input signal

bIn2
bIn3
BOOL
Outputs
Data type
bOut Output signal

BOOL
Function
Inputs Output
bIn3 bIn2 bIn1 bOut
FALSE FALSE TRUE
FALSE TRUE FALSE
FALSE TRUE TRUE
TRUE FALSE FALSE
TRUE FALSE TRUE
TRUE TRUE FALSE
TRUE TRUE TRUE TRUE
17 Function library
________________________________________________________________
17.1.8 L_And_3
/B$QGB
E,Q E2XW
E,Q
E,Q
Inputs

Data type
bIn1 Input signal

bIn2
bIn3
BOOL
Outputs
Data type
bOut Output signal

BOOL
Function
Inputs Output
bIn3 bIn2 bIn1 bOut
FALSE FALSE TRUE
FALSE TRUE FALSE
FALSE TRUE TRUE
TRUE FALSE FALSE
TRUE FALSE TRUE
TRUE TRUE FALSE
TRUE TRUE TRUE TRUE
17 Function library
________________________________________________________________
17.1.9 L_Arithmetik_1
This FB can combine two analog signals arithmetically.

• The arithmetic function is selected in C00338.
• All internal intermediate results and the value output at the nOut_a output are internally
limited to ±32767.
• Division is not remainder considered.
/B$ULWKPHWLNB
Q,QBD & 2XW Q2XWBD
,Q
Q,QBD ,Q
,Q r
,Q,Q
,Q,Q
,Q ,Q

,Q
_,Q_
,Q
,Q
Inputs

Data type

INT

INT
Outputs
Data type

INT • Internal limitation to ±32767 (±199.99 %)
Parameter

C00338 Function selection
0 nOut_a = nIn1_a

2 nOut_a = nIn1_a – nIn2_a
3 nIn1_a ⋅ nIn2_a
nOut_a = ----------------------------------------
16384
4 nIn1_a When the denominator has the
nOut_a = --------------------- ⋅ 164 value "0", it will be set to "1".
nIn2_a
5 nIn1_a
nOut_a = ---------------------------------------- ⋅ 16384
16384 – nIn2_a
17 Function library
________________________________________________________________
17.1.10 L_Arithmetik_2
This FB can combine two analog signals arithmetically.

• The arithmetic function is selected in C00339.
• All internal intermediate results and the value output at the nOut_a output are internally
limited to ±32767.
/B$ULWKPHWLNB
Q,QBD & 2XW Q2XWBD
,Q
Q,QBD ,Q
,Q r
,Q,Q
,Q,Q
,Q ,Q

,Q
_,Q_
,Q
,Q
Inputs

Data type

INT

INT
Outputs
Data type

Parameter

0 nOut_a = nIn1_a

2 nOut_a = nIn1_a – nIn2_a
3 nIn1_a ⋅ nIn2_a
nOut_a = ----------------------------------------
16384
4 nIn1_a When the denominator has the
nOut_a = --------------------- ⋅ 164 value "0", it will be set to "1".
nIn2_a
5 nIn1_a
nOut_a = ---------------------------------------- ⋅ 16384
16384 – nIn2_a
17 Function library
________________________________________________________________
17.1.11 L_Compare_1
This FB compares two analog signals and can be used e.g. to implement a trigger.
• Comparison operation, hysteresis and window size can be parameterised.
/B&RPSDUHB
& )XQFWLRQ
Q,QBD E2XW
Q,QBD &
&
Inputs

Data type

INT

INT
Outputs
Data type
bOut Status signal "Comparison statement is true"

BOOL
TRUE The statement of the selected comparison mode is true.
Parameter

1 nIn1 = nIn2
2 nIn1 > nIn2
3 nIn1 < nIn2
4 |nIn1| = |nIn2|
5 |nIn1| > |nIn2|
6 |nIn1| < |nIn2|
C00681 0.00 % 100.00 Hysteresis
• Lenze setting: 0.50 %
C00682 0.00 % 100.00 Window
17 Function library
________________________________________________________________
17.1.11.1 Function 1: nIn1 = nIn2

This function compares two signals with regard to equality. It can, for instance, provide the
comparison "actual speed equals setpoint speed " (nact = nset).
• Use C00682 to set the window within which the equality is to apply.
• Use C00681 to set a hysteresis if the input signals are not stable and the output oscillates.
bOut
TRUE
FALSE
nIn2_a nIn1_a
 C00681: Hysteresis
 C00682: Window
[17-4] Function 1: Switching performance
nIn1_a

nIn2_a

t
bOut
TRUE
FALSE
t
 C00682: Window
[17-5] Function 1: Example
17 Function library
________________________________________________________________
17.1.11.2 Function 2: nIn1 > nIn2

This function serves, for instance, to implement the comparison "actual speed is higher than a limit
value" (nact > nx) for one direction of rotation.
bOut
TRUE
FALSE
nIn1_a
nIn2_a
Functional sequence
1. If the value at nIn1_a exceeds the value nIn2_a, bOut changes from FALSE to TRUE.
2. Only if the signal at nIn1_a falls below the value of nIn2_a - hysteresis again, bOut changes back
from TRUE to FALSE.
nIn1_a
nIn2_a
t
bOut
TRUE
FALSE
t
17 Function library
________________________________________________________________
17.1.11.3 Function 3: nIn1 < nIn2

This function serves, for instance, to implement the comparison "actual speed is lower than a limit
value" (nact < nx) for one direction of rotation.
bOut
TRUE
FALSE
nIn1_a
nIn2_a
Functional sequence
1. If the value at nIn1_a falls below the value at nIn2_a, bOut changes from FALSE to TRUE.
2. Only if the signal at nIn1_a exceeds the value of nIn2_a - hysteresis again, bOut changes back
from TRUE to FALSE.
nIn1_a

nIn2_a
t
bOut
TRUE
FALSE
t
17 Function library
________________________________________________________________
17.1.11.4 Function 4: |nIn1| = |nIn2|

This function serves to implement e.g. the comparison "nact = 0". This function is similar to function
1. However, the amount is generated by the input signals before signal processing (without sign).
Function 1: nIn1 = nIn2
17.1.11.5 Function 5: |nIn1| > |nIn2|

This function serves to implement e.g. the comparison "|nact| > |nx|" irrespective of the direction of
rotation. This function is similar to function 2. However, the amount is generated by the input
signals before signal processing (without sign).
Function 2: nIn1 > nIn2
17.1.11.6 Function 6: |nIn1| < |nIn2|

This function serves to implement the comparison "|nact| < |nx|" independent of the direction of
rotation. This function is similar to function 3. However, the amount is generated by the input
signals before signal processing (without sign).
Function 3: nIn1 < nIn2
17 Function library
________________________________________________________________
17.1.12 L_Compare_2
/B&RPSDUHB
& )XQFWLRQ
Q,QBD E2XW
Q,QBD &
&
Inputs

Data type

INT

INT
Outputs
Data type

BOOL
Parameter

1 nIn1 = nIn2
2 nIn1 > nIn2
3 nIn1 < nIn2
4 |nIn1| = |nIn2|
5 |nIn1| > |nIn2|
6 |nIn1| < |nIn2|
C00686 0.00 % 100.00 Hysteresis
C00687 0.00 % 100.00 Window
 For a detailed functional description see L_Compare_1.
17 Function library
________________________________________________________________
17.1.13 L_Compare_3
/B&RPSDUHB
& )XQFWLRQ
Q,QBD E2XW
Q,QBD &
&
Inputs

Data type

INT

INT
Outputs
Data type

BOOL
Parameter

1 nIn1 = nIn2
2 nIn1 > nIn2
3 nIn1 < nIn2
4 |nIn1| = |nIn2|
5 |nIn1| > |nIn2|
6 |nIn1| < |nIn2|
C00691 0.00 % 100.00 Hysteresis
C00692 0.00 % 100.00 Window
 For a detailed functional description see L_Compare_1.
17 Function library
________________________________________________________________
17.1.14 L_DFlipFlop_1
The FB saves binary signals (DFlipFlop) in a clock-controlled way.
/B')OLS)ORSB
E' E2XW
' 4
E&ON
E&OU E1HJ2XW
&/5 4
Inputs

Data type
bD Data input
BOOL
bClk Clock input

BOOL • Only FALSE/TRUE edges are evaluated
bClr Reset input
BOOL
TRUE • The bOut output is set to FALSE.
• The bNegOut output is set to TRUE.
Outputs
Data type
bOut Output signal

BOOL
bNegOut Output signal, inverted

BOOL
Function
If the bClr input = FALSE, a signal edge at the bClk input switches the static input signal bD to the
bOut output, where it is retained:
bD
TRUE
FALSE
t
bClk
TRUE
FALSE
t
bOut
TRUE
FALSE
t
17 Function library
________________________________________________________________
If the bClr input = TRUE:

• Due to the priority bClr > bClk, bD the bOut output signal can be set any time to the FALSE status
by the bClr input signal = TRUE.
• The output signal is kept in this status independent of the other input signals.
17 Function library
________________________________________________________________
17.1.15 L_DigitalDelay_1
This FB delays binary signals.

• ON and OFF-deceleration can be parameterised separately.
/B'LJLWDO'HOD\B
E,Q ,Q
2XW E2XW
& &
Inputs

Data type
bIn Input signal

BOOL
Outputs
Data type
bOut Output signal (time-delayed input signal)

BOOL
Parameter

C00720/1 0.000 s 3600.000 ON-deceleration
• Lenze setting: 0.000 s
C00720/2 0.000 s 3600.000 OFF-deceleration
17 Function library
________________________________________________________________
Function
bIn
TRUE
FALSE
t
bOut
TRUE
FALSE
t

0
t

1
t
 ON delay
 OFF delay
 Internal timing element for ON delay (retriggerable)
 Internal timing element for OFF delay (retriggerable)
1. A FALSE-TRUE edge at bIn starts the internal timing element for the ON delay.
2. After the defined ON delay, the input signal bIn is output at bOut.
3. A TRUE-FALSE edge at bIn starts the internal timing element for the OFF delay.
4. After the defined OFF delay, the input signal bIn is output at bOut.
17 Function library
________________________________________________________________
17.1.16 L_DigitalLogic_1
This FB provides a binary output signal created by a logic operation of the input signals. Optionally,
one of the constant binary values independent from the input signals can be output.
• Output of a constant binary value
• AND operation of the inputs
• OR operation of the inputs
• Output depending on the combination of the input signals
/B'LJLWDO/RJLFB

E,Q

E,Q E2XW

E,Q

! &
&
&
&

&
Inputs

Data type
bIn1 Input signal 1

BOOL
bIn2 Input signal 2

BOOL
bIn3 Input signal 3

BOOL
Outputs
Data type
bOut Output signal

BOOL
Parameter

0 "0" Constant value "FALSE"
1 "1" Constant value "TRUE"
2 bOut = bIn1 ∧ bIn2 ∧ bIn3 AND operation
3 bOut = bIn1 ∨ bIn2 ∨ bIn3 OR operation
4 bOut = f (truth table) The output value depends on the

truth table parameterised in
C00821/1...8
17 Function library
________________________________________________________________

C00821/1...8 Truth table for function "4: bOut = f
(truth table)"
0 FALSE
• Each of the eight possible input
1 TRUE combinations can be assigned to
the output value FALSE or TRUE.
• For an application example see
the following section.
Function "4: bOut = f (Truth table)"

When the function "4: bOut = f (truth table)" is selected in C00820, the output value bOut depends
on the truth table parameterised in C00821/1...8.
The following table shows which setting may be required in C00821/1...8 to realise the logic
operations NAND, NOR, XOR and XNOR:
Input signals Output Parameter setting for logic operation:

bIn3 bIn2 bIn1 bOut NAND NOR XOR XNOR
0 0 0 C00821/1 = 1 1 0 1
0 0 1 C00821/2 = 1 0 1 0
0 1 0 C00821/3 = 1 0 1 0
0 1 1 C00821/4 = 1 0 0 1
1 0 0 C00821/5 = 1 0 1 0
1 0 1 C00821/6 = 1 0 0 1
1 1 0 C00821/7 = 1 0 0 1
1 1 1 C00821/8 = 0 0 0 1
17 Function library
________________________________________________________________
17.1.17 L_DigitalLogic_3
This FB provides a binary output signal created by a logic operation of the input signals. Optionally,
one of the constant binary values independent from the input signals can be output.
• Output of a constant binary value
• AND operation of the inputs
• OR operation of the inputs
• Output depending on the combination of the input signals
/B'LJLWDO/RJLFB

E,Q

E,Q E2XW

E,Q

! &
&
&
&

&
Inputs

Data type
bIn1 Input signal 1

BOOL
bIn2 Input signal 2

BOOL
bIn3 Input signal 3

BOOL
Outputs
Data type
bOut Output signal

BOOL
Parameter

0 "0" Constant value "FALSE"
1 "1" Constant value "TRUE"
2 bOut = bIn1 ∧ bIn2 ∧ bIn3 AND operation
3 bOut = bIn1 ∨ bIn2 ∨ bIn3 OR operation
4 bOut = f (truth table) The output value depends on the

truth table parameterised in
C00829/1...8
17 Function library
________________________________________________________________

C00829/1...8 Truth table for function "4: bOut = f
(truth table)"
0 FALSE
• Each of the eight possible input
1 TRUE combinations can be assigned to
the output value FALSE or TRUE.
• For an application example see
the following section.
Function "4: bOut = f (Truth table)"

When the function "4: bOut = f (truth table)" is selected in C00828, the output value bOut depends
on the truth table parameterised in C00829/1...8.
The following table shows which setting may be required in C00829/1...8 to realise the logic
operations NAND, NOR, XOR and XNOR:
Input signals Output Parameter setting for logic operation:

bIn3 bIn2 bIn1 bOut NAND NOR XOR XNOR
0 0 0 C00829/1 = 1 1 0 1
0 0 1 C00829/2 = 1 0 1 0
0 1 0 C00829/3 = 1 0 1 0
0 1 1 C00829/4 = 1 0 0 1
1 0 0 C00829/5 = 1 0 1 0
1 0 1 C00829/6 = 1 0 0 1
1 1 0 C00829/7 = 1 0 0 1
1 1 1 C00829/8 = 0 0 0 1
17 Function library
________________________________________________________________
17.1.18 L_GainOffset_1
This FB can amplify an analog input signal and then add an offset to it. Preferably to be
interconnected directly after the analog input terminals.
• The internal calculations (addition and subtraction) are carried out with 32 bits without
overflow/underflow. Division is not remainder considered.
• Gain and offset are selected via FB inputs.
• The value provided at the nOut_a output is internally limited to ±199.99 %.
/B*DLQ2IIVHWB
Q,QBD Q2XWBD
Q*DLQBD

Q2IIVHWBD
Inputs

Data type
nIn_a Input signal

INT • Scaling: 16384 ≡ 100 %
nGain_a Gain factor
INT • Scaling: 16384 ≡ 100 %
• 199.99 % ≈2
nOffset_a Offset
INT • Scaling: 16384 ≡ 100 %
Outputs
Data type

INT • Internal limitation to ±199.99 %
Function
nOut_a = ( nIn_a ⋅ Gain factor ) + Offset
17 Function library
________________________________________________________________
/B*DLQ2IIVHWB
Q,QBD Q2XWBD
Q*DLQBD

Q2IIVHWBD
Inputs

Data type
nIn_a Input signal

INT • Scaling: 16384 ≡ 100 %
nGain_a Gain factor
INT • Scaling: 16384 ≡ 100 %
• 199.99 % ≈2
nOffset_a Offset
INT • Scaling: 16384 ≡ 100 %
Outputs
Data type

Function
17 Function library
________________________________________________________________
/B*DLQ2IIVHWB
Q,QBD Q2XWBD
Q*DLQBD

Q2IIVHWBD
Inputs

Data type
nIn_a Input signal

INT • Scaling: 16384 ≡ 100 %
nGain_a Gain factor
INT • Scaling: 16384 ≡ 100 %
• 199.99 % ≈2
nOffset_a Offset
INT • Scaling: 16384 ≡ 100 %
Outputs
Data type

Function
17 Function library
________________________________________________________________
17.1.21 L_Interpolator_1
This FB interpolates a position setpoint and/or an analog value e.g. to compensate for larger bus
transmission cycles or to continue signal characteristics if data telegrams are missing.
/B,QWHUSRODWRUB
GQ3KL,QBS GQ3KL2XWBS
Q3KG,QBY Q3KG2XWBY
Q1,QBD Q12XWBD
&
E6SHHG$FW 1RRILQWHUSRODWLRQF\OHV E3XOVH
$FWLYDWH E6LJQDO(UURU
& ,QWHUSRODWLRQ
& 0RQLWRULQJ
& 0D[1RRI
HUURUF\FOHV
Inputs

Data type
dnPhIn_p Position setpoint

DINT • Is interpolated and completed when signal interpolation is activated.
nPhdIn_v Angular velocity
INT • Is only passed through to the nPhdOut_v output.
nNIn_a Analog value
INT • Is interpolated when signal interpolation is activated.
bSpeedAct0 Input for detecting the "Current speed is zero" status
BOOL • This status signal needs to be transmitted by the setpoint source to ensure
trouble-free operation.
TRUE Current speed is zero.
Outputs
Data type
dnPhOut_p Output of the dnPhIn_p position setpoint which, if applicable, has been interpolated
DINT and completed
nPhdOut_v Output of the nPhdIn_v angular velocity
INT
nNOut_a Output of the nNIn_a analog value which, if applicable, has been interpolated
INT
bPulse "Input values have been accepted" status signal

BOOL
TRUE The input values have been accepted during this cycle.
bSignalError "Signal error" status signal
BOOL • Only if signal monitoring is active (C00950/2 = "1: On").
TRUE The number of missing data telegrams has exceeded the limit value
parameterised in C00952.
17 Function library
________________________________________________________________
Parameter

C00950/1 Signal interpolation of the dnPhIn_p
and nNIn_a input signals
0 Off
• Lenze setting: Off
1 On Signal interpolation ( 940)
C00950/2 Signal monitoring of the dnPhIn_p
input signal
0 Off
• Lenze setting: Off
1 On Signal monitoring ( 941)
C00951 1 65535 Number of interpolation steps
• Corresponds to the receive cycle
of the data telegrams in [ms].
C00952 0 65535 Limit value for missing data
telegrams
Signal monitoring ( 941)
C00953 0 100 Speed-up
• Limitation of the amount of
correction increments per cycle
• Scaling: 1 increment/ms ≡
0.9155 min-1
17.1.21.1 Signal interpolation

If signal interpolation is active (C00950/1 = 1), the output signal will not reach the level of the corresponding
input signal until all interpolation steps parameterised in C00951 have been performed:
signal cycle 1 cycle 2 cycle 3
Dy from cycle 2

Dy from cycle 1
t
5 10 15
ms

 Setpoint signal
 Interpolated setpoint signal
 Receive cycle in [ms] = Number of interpolation steps (in our example: 5)
[17-10] Signal characteristic
17 Function library
________________________________________________________________
 Note!
Do not change the number of interpolation steps during operation. Otherwise the
interpolation becomes inaccurate.
17.1.21.2 Signal monitoring

If signal monitoring is active (C00950/2 = 1), the signal characteristic of the dnPhIn_p input signal
is continued even if the data telegram is missing (setpoint selection via CAN).
Monitoring is performed on the basis of the dnPhIn_p position setpoint and the bSpeedAct0 status
signal:
• If the dnPhIn_p position setpoint remains the same in the next device cycle, it is either because
the speed is zero or because no data telegram has been received.
• The evaluation of the bSpeedAct0 status signal gives information about which reason applies.
This status signal needs to be transmitted by the setpoint source to ensure trouble-free
operation:
• bSpeedAct0 = FALSE means that the speed is not zero, so an error is assumed: The signal
characteristic of the dnPhIn_p input signal is completed (the current slope is retained).
• bSpeedAct0 = TRUE means that the speed is zero, so the unchanged position setpoint is not
treated as an error.
• If the number of missing data telegrams exceeds the limit value parameterised in C00952, the
bSignalError output is set to TRUE.
• The bSignalError output is automatically reset to FALSE if correct signals are detected at
dnPhIn_p and bSpeedAct0 again.
 Note!
The nNIn_a analog value is not monitored!
17 Function library
________________________________________________________________
17.1.22 L_JogCtrlExtension_1
This FB can be connected upstream to the L_NSet ramp function generator/setpoint generator to
implement a switch-off positioning at limit switch.
• Detailed information on this operating mode can be found in the description of the "Switch-off
positioning" TA.
/B-RJ&WUO([WHQVLRQB
E,QSXW6HO '08;
E,QSXW6HO

E5IJ,Q E5IJ2XW
E-RJ,Q E-RJ2XW
E-RJ,Q
&75/ E-RJ2XW
E6ORZ'RZQ
E6WRS
E6ORZ'RZQ
E6WRS
E6ORZ'RZQ
E6WRS
Inputs

Data type
bInputSel1 Activation of the bSlowDown1/bStop1, bSlowDown2/bStop2 and

bInputSel2 bSlowDown3/bStop3 signal pairs according to the Truth table
BOOL
bRfgIn Ramping down of the setpoint generator in the downstream L_NSet FB according to
BOOL the Truth table
bJog1In Selection inputs for setting fixed speeds in the setpoint generator
bJog2In • If the pre-switch off is inactive (bInputSel1 and bInputSel2 are both set to FALSE),
BOOL the two control signals are output one-to-one at the bJog1Out and bJog2Out
outputs.
• To achieve the desired behaviour (starting at high speed, pre-switch off at low
speed), both inputs must be set to TRUE.
• Fixed setpoint 2 must be less than fixed setpoint 3!
Otherwise, the drive will start at a low speed and accelerate after the pre-switch
off.
• If, in addition to the bJog1In and bJog2In inputs, other jog signals are set at the
L_NSet FB, new fixed setpoints are reached, and the drive traverses at speeds that
differ from the selection via bJog1In and bJog2In.
bSlowDown1 Activation of fixed setpoint 2 in the downstream L_NSet FB
bSlowDown2 • These inputs only fulfil a function if they have been activated via bInputSel1 and
bSlowDown3 bInputSel2 previously (see Truth table).
BOOL
bStop1 Ramping down of the ramp function generator in the downstream L_NSet FB
bStop2 • These inputs only fulfil a function if they have been activated via bInputSel1 and
bStop3 bInputSel2 previously (see Truth table).
BOOL
17 Function library
________________________________________________________________
Outputs
Data type
bRfgOut Control signal for ramping down the setpoint generator

BOOL • Connect this output to the bRfg0 input of the L_NSet FB.
bJog1Out Control signal for setting fixed speeds in the setpoint generator
BOOL • Connect this output to the bJog1 input of the L_NSet FB.
bJog2Out Control signal for setting fixed speeds in the setpoint generator
BOOL • Connect this output to the bJog2 input of the L_NSet FB.
Truth table
Input Function Response in the L_NSet FB

bInputSel1 bInputSel2
FALSE FALSE Pre-switch off inactive No response
• The bRfgIn input signal is directly
provided at the bRfgOut output.
• The bJogIn1 and bJogIn2 input signals are
directly output at the bJog1Out and
bJog2Out outputs.
TRUE FALSE The bSlowDown1 and bStop1 inputs Pre-switch off can be activated
are evaluated. • If the SlowDown function is activated via
FALSE TRUE The bSlowDown2 and bStop2 inputs the selected bSlowDown input, fixed
are evaluated. setpoint 2 in the setpoint generator is
activated via the bJog1Out and bJog2Out
TRUE TRUE The bSlowDown3 and bStop3 inputs outputs.
are evaluated. • If the Stop function is activated via the
selected bStop input, the bRfgOut output
is set to TRUE and hence the setpoint
generator is deactivated.
[17-1] Truth table for activating the pre-switch off
17 Function library
________________________________________________________________
17.1.23 L_MPot_1
This FB replaces a hardware motor potentiometer and can be used as an alternative setpoint source
which is controlled via two inputs.
• The signal is output via a ramp function generator with linear ramps.
• The acceleration and deceleration times are set via parameters.
• Constant ramping even with speed limit values changed online.
• The motor potentiometer function can be switched on/off online.
/B03RWB
&
E(QDEOH
E8S & $FFWLPH

&
E,Q$FW 8SSHUOLPLW
E'RZQ
&
/RZHUOLPLW & 'HFWLPH
& 'HDFWLYDWLRQIXQFWLRQ
& ,QLWLDOL]DWLRQIXQFWLRQ Q2XWBD
Q,QBD

Inputs

Data type
bEnable Switch over motor potentiometer function

BOOL bEnable input and C00806 code are ORed.
TRUE Motor potentiometer function is active, setpoint can be changed via
bUp and bDown.
• With switching to TRUE, the value applied to nIn_a is
automatically transferred to the motor potentiometer.
FALSE The value applied to nIn_a is output at nOut_a.
nln_a When bEnable = FALSE, the analog nIn_ is input signal switched to the nOut_a
INT output.
bUp Approaching of the upper speed limit value set in C00800.
BOOL
TRUE The nOut_a output signal runs to its upper limit value (nHighLimit).
• If the bDown input is simultaneously set to TRUE, the nOut_a
output signal is not changed.
bDown Approaching of the lower speed limit value set in C00801.
BOOL
TRUE The nOut_a output signal runs to its lower limit value (nLowLimit).
• If the bUp input is simultaneously set to TRUE, the nOut_a output
signal is not changed.
bInAct Deactivate motor potentiometer function
BOOL • This input has the highest priority.
• When the motor potentiometer is deactivated, the nOut_a output signal follows
the function set with code C00804.
TRUE Motor potentiometer function is deactivated.
17 Function library
________________________________________________________________
Outputs
Data type

INT
Parameter

C00800 -199.99 % 199.99 Upper limit
C00801 -199.99 % 199.99 Lower limit
• Lenze setting: -100.00 %
C00802 0.1 s 6000.0 Acceleration time
C00803 0.1 s 6000.0 Deceleration time
C00804 Inactive function
• Selection of response when
deactivating the motor
potentiometer via the input
bInAct.
0 No further action; nOut_a retains its
value.
1 The motor potentiometer returns to
0 % within the deceleration time Tif
2 The motor potentiometer runs to
the lower limit value (C00801)
within the deceleration time Tif
3 The motor potentiometer output Important for the emergency stop
immediately changes to 0 % function
4 The motor potentiometer output
immediately changes to the lower
limit value (C00801)
5 The motor potentiometer runs to
the upper limit value (C00800)
within the acceleration time Tir
C00805 Init function
0 The output value being output • Selection of response when
during mains power-off is saved switching on the device.
non-volatilely in the internal • Lenze setting: 0
memory of the controller. It will be
reloaded during mains power-on.
1 The lower limit value (C00801) is
loaded during mains power-on.
2 An output value = 0 % is loaded
during mains power-on.
C00806 Use of the motor potentiometer
0 No • When switching to 1: YES, the
value applied to nIn_a is
1 Yes automatically transferred to the
motor potentiometer.
17 Function library
________________________________________________________________
17.1.23.1 Activate & control motor potentiometer

When bInAct is set to FALSE, the motor potentiometer is activated.
• The currently active function depends on the current output signal nOut_a, the limit values set
and the control signals at bUp and bDown.
• When the nOut_a output signal is outside the limits set, the output signal runs to the next limit
with the Ti times set. This process is independent of the control signals at bUp and bDown.
• When the nOut_a output signal is inside the limits set, the output signal changes according to
the control signals at bUp and bDown.
nOut_a
nHighLimit
wTir
wTir wTif
0
t
wTir
nLowLimit
bUp
TRUE
FALSE
t
bDown
TRUE
FALSE
t
[17-11] Example: Control of the motor potentiometer
bUp bDown bInact Function

FALSE FALSE FALSE The nOut_a output signal remains unchanged.
TRUE FALSE The nOut_a output signal runs to its upper limit value (nHighLimit).
FALSE TRUE The nOut_a output signal runs to its lower limit value (nLowLimit).
TRUE TRUE The nOut_a output signal remains unchanged.
- - TRUE The motor potentiometer function is deactivated. The nOut_a
output signal responds according to the function selected via
Function.
17 Function library
________________________________________________________________
17.1.23.2 Deactivate motor potentiometer

When the motor potentiometer is deactivated by setting bInAct to TRUE, the nOut_a output signal
responds according to the function selected via Function.
nOut_a
nHighLimit
wTif
0 1 wTir
wTif
nLowLimit
wTif wTir
0
t
bUp
TRUE
FALSE
t
bDown
TRUE
FALSE
t
bInAct
TRUE
FALSE
t
 When the motor potentiometer is deactivated, nOut_a is reduced to 0 % with the deceleration time wTif.
 If it is activated again, nOut_a is increased again to nLowLimit with the acceleration time wTir.
[17-12] Example: Deactivation of the motor potentiometer when the Function = 1 has been selected
17 Function library
________________________________________________________________
17.1.24 L_MulDiv_1
This FB multiplies the analog input signal with a parameterisable factor.

• The value of the factor is determined by a quotient consisting of numerator and denominator .
• The value output at nOut_a is limited to ±199.99 %.
/B0XO'LYB
Q,QBD & Q2XWBD
&

Inputs

Data type
nIn1 Input signal

INT
Outputs
Data type
nOut_a Product value (result of the multiplication)

INT • Internal limitation to ± 32767
Parameter

C00699/1 -32767 32767 Counter
C00699/2 -32767 32767 Denominator
Function
C00699/1
nOut_a = nIn_a × -------------------------
C00699/2
17 Function library
________________________________________________________________
17.1.25 L_Negation_1
This FB converts the sign of the input signal, i.e. the input signal is multiplied by the value -1 and is
then output.
• With the value - 32768 at the nIn_a input, the value + 32767 is provided at the nOut_a output.
/B1HJDWLRQB
Q,QBD Q2XWBD

Inputs
Data type
nIn_a Input signal

INT
Outputs
Data type

INT
17 Function library
________________________________________________________________
17.1.26 L_Not_1
This FB negates a signal of BOOL data type.
/B1RWB
E,Q E2XW

Inputs
Data type
bIn Input signal

BOOL
Outputs
Data type
bOut Result of the NOT operation (negated input signal)

BOOL
17.1.27 L_Not_2
/B1RWB
E,Q E2XW

Inputs
Data type
bIn Input signal

BOOL
Outputs
Data type

BOOL
17 Function library
________________________________________________________________
17.1.28 L_Not_3
/B1RWB
E,Q E2XW

Inputs
Data type
bIn Input signal

BOOL
Outputs
Data type

BOOL
17 Function library
________________________________________________________________
17.1.29 L_NSet_1
This FB is used for general signal processing of process values and is provided with the following
functions:
• Ramp function generator
• With linear ramps for main and additional setpoint path
• With S-shaped ramp (PT1 rounding)
• Setting and holding
• Internal limitation of the input signal
• 3 adjustable blocking zones
• Arithmetic function
• 15 fixed setpoints (JOG setpoints)
• 15 acceleration and deceleration times
/B16HWB
Q&,QK9DOBD Z6WDWH
& 2XW
E5IJ6WRS
6HW
E5IJ
6HW$GG
E16HW,QY 6HW$GG
Q16HWBD & & & 6HW $GG
& & & r
E-RJ

E-RJ 6HW 6HW Q12XWBD
&

_$GG_
E-RJ & &

6HW
E-RJ & & &
$GG
E7L $GG &

7LU 7LI

E7L
& & E5IJ,(T

& &
E7L
& &
E7L Q6HW9DOXHBD
& &

Q6HWBD
E/RDG
E1$GG,QY
Q1$GGBD
&
E([WHUQDO&,1+
&
&
17 Function library
________________________________________________________________
Inputs

Data type
nCInhVal_a Main setpoint signal which is to be accepted by the main setpoint integrator when
INT the controller is inhibited.
bRfgStop Holding (freezing) of the current value of the main setpoint integrator
BOOL
bRfg0 Leading the main setpoint integrator to 0 within the current Ti times
BOOL
the Ti time set.
bNSetInv Signal inversion for the main setpoint
BOOL
TRUE Main setpoint signal is inverted.
nNset_a Main setpoint signal
INT • Other signals are also permitted
bJog1 ... bJog8 Selection inputs for fixed changeover setpoints (JOG setpoints) for the main setpoint
BOOL • Selection inputs are binary coded.
bTI1 ... bTI8 Selection inputs for alternative acceleration/deceleration times for the main
BOOL setpoint
• Selection inputs are binary coded.
nSet_a Starting value which is loaded into the main setpoint integrator by setting bLoad to
INT TRUE.
bLoad Control of both ramp function generators in special situations, e.g. QSP
BOOL
TRUE The nSet_a input signal is loaded into the main setpoint integrator
and the additional setpoint integrator is set to "0".
bAddInv Signal inversion for the additional setpoint
BOOL
TRUE Additional setpoint signal is inverted.
nNAdd_a Additional setpoint signal
INT • Other signals are also permitted
bExternalCINH Additional load input for the main setpoint integrator and the additional setpoint
BOOL integrator
TRUE The main setpoint integrator is set to the value applied at
nCInhVal_a.
The additional setpoint integrator is set to "0".
Application example for the additional load function ( 962)
Outputs
Data type
nNOut_a Speed setpoint output signal

INT • Scaling: 16384 ≡ 100 %
bRfgIEqO Status signal "setpoint = 0"
BOOL
17 Function library
________________________________________________________________
Data type
wState Bit-coded status word

WORD • Bits that are not listed are reserved for future extensions.
Bit 0 No blocking zone active
Bit 1 Blocking zone 1 active
Bit 4 Jog in blocking zone
Bit 5 MaxLimit active
Bit 6 MinLimit active
nSetValue_a Speed-setpoint input signal of the ramp function generator
INT • Scaling: 16384 ≡ 100 %
Parameter

C00012 0.000 s 999.900 Acceleration time Tir for the main
setpoint
C00013 0.000 s 999.900 Deceleration time Tif for the main
setpoint
C00039/1..15 -199.99 % 199.99 Fixed setpoints (JOG setpoints)
C00101/1..15 0.000 s 999.900 Alternative acceleration times (Tir)
for the main setpoint
C00103/1..15 0.000 s 999.900 Alternative deceleration times (Tif)
for the main setpoint
C00134 Activates ramp rounding with PT1
behaviour for the main setpoint
0 Off
• The corresponding S-ramp time
1 PT1 behaviour must be set in C00182.
• Lenze setting: 0 (deactivated)
C00182 0.01 s 50.00 S-ramp time PT1
C00190 Selection of the arithmetic function
for combining main and additional
setpoint
0 NOut = NSet Lenze setting
• The additional setpoint is not
processed.
1 NOut = NSet + NAdd
2 NOut = NSet - NAdd
3 NOut = (NSet * NAdd) / 100%
4 NOut = (NSet * 1%) / |NAdd|
5 NOut = (NSet * 100%) / (100% -
NAdd)
C00220 0.000 s 999.900 Acceleration time Tir for the
additional setpoint
17 Function library
________________________________________________________________

C00221 0.000 s 999.900 Deceleration time Tif for the
additional setpoint
C00241 0.00 % 100.00 Hysteresis window for zero detection
of speed output setpoint (output
bRfgIEqO)
C00632/1...3 0.00 % 199.99 Maximum limit values for the speed
blocking zones
• Selection of the maximum limit
values for the blocking zones in
which the speed must not be
constant.
C00633/1...3 0.00 % 199.99 Minimum limit values for the speed
blocking zones
• Selection of the minimum limit
values for the blocking zones in
which the speed must not be
constant.
C00634 Status (bit-coded)
Bit 0 No blocking zone active • Bits that are not listed are
reserved for future extensions.
Bit 4 Jog in blocking zone
Bit 5 MaxLimit active
Bit 6 MinLimit active
C00635 -199.99 % 199.99 nMaxLimit
• Maximum speed setpoint for
speed setpoint limitation
C00636 -199.99 % 199.99 nMinLimit
• Minimum speed setpoint for
speed setpoint limitation
C00637 -199.99 % 199.99 Blocking zone output
• Display of the speed setpoint after
being processed by blocking zone
function.
C00638 -199.99 % 199.99 Ramp smoothing output
• Display of the speed setpoint after
being processed by PT1 filter
function.
C00639 -199.99 % 199.99 Additional value output
• Display of the additional speed
setpoint after being processed by
ramp generator.
C00640 -199.99 % 199.99 Output nNOut_a
• Display of the generated main
speed setpoint at the nNOut_a
output.
17 Function library
________________________________________________________________
17.1.29.1 Main setpoint path

• The signals in the main setpoint path are limited to a value range of ±32767.
• The signal at nNSet_a is first led via the JOG selection function.
• A selected JOG value switches the nNSet_a input inactive. Then, the subsequent signal
conditioning operates with the JOG value.
17.1.29.2 JOG setpoints

In addition to the direct main setpoint selection via the nNSet_a input, so-called JOG setpoints can
be preset in C00039/1...15.
• The JOG setpoints are binary-coded and can be called using the bJog1 ... bJog8 selection inputs
so that 15 options are available:
Selection inputs Main setpoint

bJog8 bJog4 bJog2 bJog1 Main setpoint
FALSE FALSE FALSE FALSE nNset_a

FALSE FALSE FALSE TRUE C00039/1
FALSE FALSE TRUE FALSE C00039/2
FALSE FALSE TRUE TRUE C00039/3
FALSE TRUE FALSE FALSE C00039/4
FALSE TRUE FALSE TRUE C00039/5
FALSE TRUE TRUE FALSE C00039/6
FALSE TRUE TRUE TRUE C00039/7
TRUE FALSE FALSE FALSE C00039/8
TRUE FALSE FALSE TRUE C00039/9
TRUE FALSE TRUE FALSE C00039/10
TRUE FALSE TRUE TRUE C00039/11
TRUE TRUE FALSE FALSE C00039/12
TRUE TRUE FALSE TRUE C00039/13
TRUE TRUE TRUE FALSE C00039/14
TRUE TRUE TRUE TRUE C00039/15
• The number of selection inputs to be assigned depends on the number of JOG setpoints
required:
Number of JOG setpoints required Number of selection inputs to be assigned (bJog1 ... bJog8)
1 At least 1
2 ... 3 at least 2
4 ... 7 at least 3
8 ... 15 4
17 Function library
________________________________________________________________
17.1.29.3 Setpoint inversion

The output signal of the JOG function is led via an inverter.
The sign of the setpoint changes if bNSetInv is set to TRUE.
17.1.29.4 Value range of the input signal

The value range of the input signal can be limited by using the following parameters:
• C00635: MaxLimit (default setting: +199.99 %)
• C00636: MinLimit (default setting: -199.99 %)
17.1.29.5 Skip frequency function

If the speed setpoints in speed-variable drives are linearly increasing, for instance, the
frequency/speed range is divided into a number of equal time segments. Therefore, there may be
speeds during acceleration time which must be bridged very fast (e.g. natural resonant frequencies).
The skip frequency function offers the opportunity to select a range in which the initial speed is
maintained. If the speed setpoint leaves that range, the drive will be accelerated to reach the
desired speed.
 Note!
• Skip frequencies only affect main setpoints.
• It is not possible to exclude "0" speed if there is a sign reversal of the speed setpoint.
17 Function library
________________________________________________________________
Definition of the blocking zones

The subcodes of codes C00632 and C00633 can be used to define three zones which are to be
skipped by the output setpoint and which are to be passed as fast as possible by the ramp function
generator.
The example below shows the parameter setting of two blocking zones:
Parameter Blocking zone 1 Blocking zone 2 Blocking zone 3

Minimum limit value C00633/1: 48 % C00633/2: 138 % C00633/3: 0 %
Maximum limit value C00632/1: 104 % C00632/2: 178 % C00632/3: 0 %
Output [%]
C00632/2
199.99 C00633/2
1
C00632/1
C00633/1
Input [%]
-199.99 48 104 138 178 199.99
1
-199.99
 Blocking zone 1
 Blocking zone 2
[17-13] Zone masking by means of parameterisable blocking zones
• The parameterised blocking zones have the same effect on negative input signals.
• A blocking zone is deactivated by entering identical limit values (in our example: blocking zone
3).
17 Function library
________________________________________________________________
Overlapping of blocking zones

If blocking zones overlap, the lowest and highest value of the overlapping zones form a new zone.
In this case, the status display (output wState or display parameter C00634) only indicates one zone
(the lower of the two original zones).
Abutting blocking zones

If two blocking zones abut (e.g. 20 ... 30 % and 30 ... 40 %), the limit value between the two zones (in
this example 30 %) is also passed through.
The same applies to a limit range of 0 ... xx %. During zero crossing of the speed setpoint, "0" speed
is output as setpoint. It is possible to exclude "0" speed. However, in this case, the output speed will
remain on the upper limit value when the input setpoint becomes "0".
 Tip!
As described above, the acceleration phase starts after the blocking zones have been
passed through. The ramp function generator integrated in the L_Nset function block
limits the progression of the speed. For this reason, the time values set for the integrated
ramp function generator should be as low as possible whereas the setpoint for the L_NSet
function block should be generated by a ramp function generator with higher time values
(e.g. L_MPot function block).
17.1.29.6 Ramp function generator for the main setpoint

The setpoint is now led via a ramp function generator with linear characteristic. The ramp function
generator converts setpoint step-changes at the input into a ramp.
RFG-OUT
100 %
w2
w1 t ir t ir
0%
t
Tir Tir
w1, w2 = change of the main setpoint as a function of tir and tif

RFG-OUT = output of the ramp function generator
[17-14] Acceleration and deceleration times
• tir and tif are the desired times for changing between w1 and w2.
• S-ramps are possible by selecting S-ramp times.
• The tir/tif values are converted into the required Ti times according to the following formula:
100 % 100 %
T ir = t ir ⋅ ----------------------- T if = t if ⋅ -----------------------
w2 – w1 w2 – w1
17 Function library
________________________________________________________________
Setting and selection of Ti times

Via parameters, you can select 16 different Tir and Tif times each for the ramp function generator.
• The selection is made via the binary coded selection inputs bTI1 ... bTI8:
Selection inputs Used Used

bTI8 bTI4 bTI2 bTI1 Acceleration time Deceleration
time
FALSE FALSE FALSE FALSE C00012 C00013
FALSE FALSE FALSE TRUE C00101/1 C00103/1
FALSE FALSE TRUE FALSE C00101/2 C00103/2
FALSE FALSE TRUE TRUE C00101/3 C00103/3
FALSE TRUE FALSE FALSE C00101/4 C00103/4
FALSE TRUE FALSE TRUE C00101/5 C00103/5
FALSE TRUE TRUE FALSE C00101/6 C00103/6
FALSE TRUE TRUE TRUE C00101/7 C00103/7
TRUE FALSE FALSE FALSE C00101/8 C00103/8
TRUE FALSE FALSE TRUE C00101/9 C00103/9
TRUE FALSE TRUE FALSE C00101/10 C00103/10
TRUE FALSE TRUE TRUE C00101/11 C00103/11
TRUE TRUE FALSE FALSE C00101/12 C00103/12
TRUE TRUE FALSE TRUE C00101/13 C00103/13
TRUE TRUE TRUE FALSE C00101/14 C00103/14
TRUE TRUE TRUE TRUE C00101/15 C00103/15
Function
• When the controller is inhibited (CINH), the ramp function generator accepts the value applied
at nCInhVal_a and transfers it to the downstream function. This function has priority over all
other functions.
• bRfgStop = TRUE
• The ramp function generator is stopped. Changes at the input of the ramp function generator
have no effect on the output signal.
• bRfg0 = TRUE
• The ramp function generator runs to 0 along its deceleration ramp.
• Furthermore it is possible to load the ramp function generator online with a defined value. For
this purpose, bLoad must be set to TRUE. As long as this input is set, the value at nSet_a is
transferred to the ramp function generator and provided at the output.
17 Function library
________________________________________________________________
Priorities:
CINH bLoad bRfg0 bRfgStop Function

FALSE FALSE FALSE FALSE The ramp function generator follows the input value
via the set ramps.
FALSE FALSE FALSE TRUE Stop the ramp function generator:
The value at the output of the ramp function
generator is held.
FALSE FALSE TRUE FALSE Ramp down the ramp function generator:
FALSE FALSE TRUE TRUE The ramp function generator runs to 0 within the set
deceleration time.
FALSE TRUE FALSE FALSE Load ramp function generator online:
FALSE TRUE FALSE TRUE The ramp function generator accepts the value at
nSet_a and provides it at its output.
FALSE TRUE TRUE FALSE
FALSE TRUE TRUE TRUE
TRUE FALSE FALSE FALSE Controller inhibit:
TRUE FALSE FALSE TRUE The ramp function generator accepts the value at
nCInhVal_a and provides it at its output.
TRUE FALSE TRUE FALSE
TRUE FALSE TRUE TRUE
TRUE TRUE FALSE FALSE
TRUE TRUE FALSE TRUE
TRUE TRUE TRUE FALSE
TRUE TRUE TRUE TRUE
17.1.29.7 S-shaped ramp

A PT1 element is connected downstream of the linear ramp function generator. This arrangement
implements an S-shaped ramp for a nearly jerk-free acceleration and deceleration.
• The PT1 element can be switched on/off via the bSShapeActive input.
• The corresponding S-ramp time can be set under C00182.
17 Function library
________________________________________________________________
17.1.29.8 Additional setpoint

Use the nNAdd_a input to define an additional value (e.g. a correcting signal) and combine it
arithmetically with the main setpoint nNSet_a.
• First, the additional setpoint is led via a ramp function generator with linear characteristic. Its Ti
times can be set in C00220 (acceleration time) and C00221 (deceleration time).
• When the input bNAddInv is set to TRUE, the additional setpoint can be inverted before having
an effect on the ramp function generator.
• When the input bLoad is set to TRUE, the ramp function generator is set to zero for the
additional setpoint and held there without considering the Ti times. The same applies when the
controller is inhibited.
• The following arithmetic combination of main setpoint and additional setpoint can be selected
in C00190:
Value in C00190 Function Info

0 nNOut_a = nNSet_a The additional setpoint nNAdd_a is
not processed.
1 nNOut_a = nNSet_a + nNAdd_a
2 nNOut_a = nNSet_a - nNAdd_a
3 nNOut_a = (nNSet_a * nNAdd_a) / 100 % Internal scaling:
4 nNOut_a = (nNSet_a * 1 %) / |nNAdd_a| • 100 % ≡ 16384
• 1 % ≡ 164
5 nNOut_a = (nNSet_a * 100 %) / (100 % - nNAdd_a)
17.1.29.9 Application example for the additional load function

The motor control of the drive is provided with a function for automatically carrying along ramp
function generators for "jerk-free" setpoint connection. For speed-controlled drive tasks, the
LS_MotorInterface SB outputs the current actual speed value via the nHlgSetValue_a output (e.g. in
case of a pulse inhibit, flying restart, controller inhibit).
• In case of a pulse inhibit, the main setpoint generator must be carried along with the current
actual speed value to ensure jerk-free setpoint transfer.
• The actual speed value is carried along automatically if the following wiring is provided:
• LS_MotorInterface.nHlgSetValue_a  L_NSet_1.nCInhValue_a
• LS_MotorInterface.bHlgLoad  L_NSet_1.bExternalCINH
17 Function library
________________________________________________________________
17.1.30 L_OffsetGain_1
This FB can add an offset to an analog input signal and then amplify it. Preferably to be
• Offset and gain are selected via FB inputs.
/B2IIVHW*DLQB
Q,QBD Q2XWBD
Q2IIVHWBD

Q*DLQBD
Inputs

Data type
nIn_a Input signal

INT • Scaling: 16384 ≡ 100 %
nOffset_a Offset
INT • Scaling: 16384 ≡ 100 %
nGain_a Gain factor
INT • Scaling: 16384 ≡ 100 %
• 199.99 % ≈2
Outputs
Data type

Function
nOut_a = ( nIn_a + Offset ) ⋅ Gain factor
17 Function library
________________________________________________________________
17.1.31 L_OffsetGain_2
This FB can add an offset to an analog input signal and then amplify it. Preferably to be
• Offset and gain are selected via FB inputs.
/B2IIVHW*DLQB
Q,QBD Q2XWBD
Q2IIVHWBD

Q*DLQBD
Inputs

Data type
nIn_a Input signal

INT • Scaling: 16384 ≡ 100 %
nOffset_a Offset
INT • Scaling: 16384 ≡ 100 %
nGain_a Gain factor
INT • Scaling: 16384 ≡ 100 %
• 199.99 % ≈2
Outputs
Data type

Function
17 Function library
________________________________________________________________
17.1.32 L_OffsetGainP_1
This FB can add an offset to an analog input signal and amplify it afterwards. Preferably to be
• Offset and gain are selected via parameters.
/B2IIVHW*DLQ3B
2IIVHW *DLQ
Q,QBD Q2XWBD

& &
Inputs

Data type
nIn_a Input signal

INT
Outputs
Data type

Parameter

C00670 -100.0000 100.0000 Gain factor
• High gain factor for further
processing of smallest input
signals.
• Please observe the difference
with regard to the gain factors of
other blocks in percent
(±199.99 % ≈ 2).
• Lenze setting: 1.0000
C00696 -199.99 % 199.99 Offset
Function
17 Function library
________________________________________________________________
/B2IIVHW*DLQ3B
2IIVHW *DLQ
Q,QBD Q2XWBD

& &
Inputs

Data type
nIn_a Input signal

INT
Outputs
Data type

Parameter

C00671 -100.0000 100.0000 Gain factor
signals.
(±199.99 % ≈ 2).
C00697 -199.99 % 199.99 Offset
Function
17 Function library
________________________________________________________________
/B2IIVHW*DLQ3B
2IIVHW *DLQ
Q,QBD Q2XWBD

& &
Inputs

Data type
nIn_a Input signal

INT
Outputs
Data type

Parameter

C00672 -100.0000 100.0000 Gain factor
signals.
(±199.99 % ≈ 2).
C00698 -199.99 % 199.99 Offset
Function
17 Function library
________________________________________________________________
17.1.35 L_Or_1
This FB implements the ORing of the inputs signals.
/B2UB
E,Q E2XW
E,Q
E,Q
Inputs

Data type
bIn1 Input signal

bIn2
bIn3
BOOL
Outputs
Data type
bOut Output signal

BOOL
Function
Inputs Output
bIn3 bIn2 bIn1 bOut
FALSE FALSE TRUE TRUE
FALSE TRUE FALSE
FALSE TRUE TRUE
TRUE FALSE FALSE
TRUE FALSE TRUE
TRUE TRUE FALSE
TRUE TRUE TRUE
[17-15] Truth table of the FB L_Or_1
17 Function library
________________________________________________________________
17.1.36 L_Or_2
/B2UB
E,Q E2XW
E,Q
E,Q
Inputs

Data type
bIn1 Input signal

bIn2
bIn3
BOOL
Outputs
Data type
bOut Output signal

BOOL
Function
Inputs Output
bIn3 bIn2 bIn1 bOut
FALSE TRUE FALSE
FALSE TRUE TRUE
TRUE FALSE FALSE
TRUE FALSE TRUE
TRUE TRUE FALSE
TRUE TRUE TRUE
[17-16] Truth table of the FB L_Or_2
17 Function library
________________________________________________________________
17.1.37 L_Or_3
/B2UB
E,Q E2XW
E,Q
E,Q
Inputs

Data type
bIn1 Input signal

bIn2
bIn3
BOOL
Outputs
Data type
bOut Output signal

BOOL
Function
Inputs Output
bIn3 bIn2 bIn1 bOut
FALSE TRUE FALSE
FALSE TRUE TRUE
TRUE FALSE FALSE
TRUE FALSE TRUE
TRUE TRUE FALSE
TRUE TRUE TRUE
[17-17] Truth table of the L_Or_3 FB
17 Function library
________________________________________________________________
17.1.38 L_Or_4
/B2UB
E,Q E2XW
E,Q
E,Q
Inputs

Data type
bIn1 Input signal

bIn2
bIn3
BOOL
Outputs
Data type
bOut Output signal

BOOL
Function
Inputs Output
bIn3 bIn2 bIn1 bOut
FALSE TRUE FALSE
FALSE TRUE TRUE
TRUE FALSE FALSE
TRUE FALSE TRUE
TRUE TRUE FALSE
TRUE TRUE TRUE
[17-18] Truth table of the L_Or_4 FB
17 Function library
________________________________________________________________
17.1.39 L_PCTRL_1
This FB is a PID controller and can be used for various control tasks (e.g. as dancer position controller,
tension controller, or pressure controller).
The FB is provided with the following functions:
• Adjustable control algorithm (P, PI, PID)
• Ramp function generator for preventing setpoint step-changes at the input
• Limitation of the controller output
• Factorisation of the output signal
• Vp adaptation
• Integral action component can be switched off
• Comparison function "Actual value = setpoint"
/B3&75/B
Q$GDSWBD
Q16HWBD ___
_ 9S &
7Q & &
& & &
.G & _
_ Q2XWBD
Q6HWBD ___
___
&
& & &
Q$FWBD E6HW(T$FW
&

& Q3,'2XWBD
E,Q$FW Q3,'2XWBD
&
E,2II &
Q,QIOXHQFHBD Q,QIOXHQFH2XWBD
E(QDEOH,QIOXHQFH5DPS
E,6HW &
Q,6HWBD
E3,'2II
Inputs

Data type
nAdapt_a Percentage adaptation of the gain Vp set in C00222 and the reset time Tn set in
INT C00223.
Then, the adapted reset time is as follows:
Vp C222 ⋅ nAdapt_a [%] ⋅ Tn C223 [ms]
Tn = --------------------------------------------------------------------------------------------
-
100 [%]
nNset_a Speed setpoint
INT • Scaling: 16384 ≡ 100 %
17 Function library
________________________________________________________________

Data type
nSet_a Sensor and process setpoint for operating modes 2, 4 and 5

INT • Scaling: 16384 ≡ 100 %
nAct_a Speed or actual sensor value (actual process value)
INT • Scaling: 16384 ≡ 100 %
bInAct Deactivate process controller temporarily (stop)
BOOL • Changes can be done online.
Note: This input is not interconnected in the LA_NCtrl application block.
TRUE • The current output value is frozen.
• The internal control algorithm is stopped.
• However, a setpoint selected via input nNSet_a is still provided in
operating modes 0/1/4/5.
bIOff Switch off the I-component of the process controller
TRUE The I component of the process controller is set to zero.
nInfluence_a Limitation of the influencing factor in percent
INT • nInfluence_a serves to limit the influencing factor of the PID controller contained
in the FB to a required value (- 199.99 % ... + 199.99 %).
• Scaling: 16384 ≡ 100 %
bEnableInfluenceRamp Activate ramp for influencing factor
BOOL • Display parameter: C00833/106
TRUE Influencing factor of the PID controller is ramped up to the
nInfluence_a value.
bISet Accept I component nISet_a in PID controller
BOOL
TRUE The value at the input nISet_a is accepted in the PID controller.
nISet_a Selection of I component of PID controller
INT • With a TRUE signal at bISet, the assigned value is accepted in the PID controller.
• Scaling: 16384 ≡ 100 %
bPIDOff Reset the entire PID controller
BOOL
(from version 06.00.00) TRUE • The I component of the controller is set to zero.
• The controller output is set to zero.
17 Function library
________________________________________________________________
Outputs
Data type

• Scaling: 16384 ≡ 100 %
bSetEqAct Status output "Setpoint and actual value are identical"
INT
TRUE Setpoint and actual value are identical, i.e. no system deviation
available.
nPIDOut1_a PID controller output without influencing factor nInfluence_a
INT • Inputs bEnableInfluenceRamp and nInfluence_a do not have any effect here, the
limited PID output value influenced by the internal ramp times is output.
• There is no connection with the additive input nNSet_a.
• Scaling: 16384 ≡ 100 %
nPIDOut2_a PID controller output with influencing factor nInfluence_a.
INT • There is no connection with the additive input nNSet_a.
• Scaling: 16384 ≡ 100 %
nInfluenceOut_a Current influencing factor ("ramp status") on the PID output value
INT • Scaling: 16384 ≡ 100 %
Parameter

C00222 0.1 0.1 500.0 Gain Vp
C00223 20 ms 6000 Reset time Tn
• Lenze setting: 400 ms
C00224 0.0 0.1 5.0 Differential component Kd
C00225 -199.99 % +199.99 MaxLimit
• Maximum value of the PID
operating range
C00226 -199.99 % +199.99 MinLimit
• Minimum value of the PID
operating range
C00227 0.000 s 999.999 Acceleration time for the ramp at the
PID output (should be set as steep as
possible)
C00228 0.000 s 999.999 Deceleration time for the ramp at the
PID output
C00231/1 (Pos. Maximum) 0.00 % 199.99 Operating range
C00231/2 (Pos. Minimum) • Determination of the operating
C00231/3 (Neg. Minimum) range for the PID process
C00231/4 (Neg. Maximum) controller by limiting the input
signal nSet_a.
• Lenze setting: No limitation (-
199.99 % ... +199.99 %)
17 Function library
________________________________________________________________

C00233 Root function
• Lenze setting: "0: Off"
0 Off The actual value at nAct_a is not
changed for further processing.
1 On The square root of the actual value at
nAct_a is taken for further
processing.
C00242 Operating mode
• Lenze setting: "0: Off"
0 Off The input setpoint nNSet_a is output
without any changes at the output
nOut_a.
1 nNSet + nNSet_PID nNSet_a and nAct_a are used as PID
input values. The arriving nNSet_a is
additively linked to the value output
by the PID element.
2 nSet_PID nSet_a and nAct_a are used as PID
input values. The input nNSet_a is
not considered.
3 nNSet_PID nNSet_a and nAct_a are used as PID
input values. The input nSet_a is not
considered.
4 nNSet + nSet_PID nSet_a and nAct_a are used as PID
input values. The arriving nNSet_a
setpoint is additively linked to the
value output by the PID element.
5 nNSet || nSet_PID nSet_a and nAct_a are used as PID
input values. The setpoint nNSet_a is
output at the output nOut_a . The
PID output value is output at the
output nPIDOut_a.
C00243 0.000 s 999.999 Influence acceleration time
• Acceleration time Tir for the
influencing factor.
C00244 0.000 s 999.999 Influence deceleration time
• Deceleration time Tif for the
influencing factor.
C00245 -199.99 % +199.99 Display of PID output value
nPIDOut_a
C00246 -199.99 % +199.99 Display of the internal PID input
(from version 04.00.00) value nAct_a
C00247 0 % 100 Window for comparison function
(from version 06.00.00) "Actual value = setpoint"
• Lenze setting: 2 %
• Hysteresis: 1 % (fixed)
17 Function library
________________________________________________________________
17.1.39.1 Control characteristic

The PI algorithm is active in the Lenze setting.
Gain (P component)
The input value is controlled by a linear characteristic. The slope of the characteristic is determined
by the controller gain Vp.
The controller gain Vp is set under C00222.
• The controller gain can be adapted via the input nAdapt_a (also possible in online mode).
• The input value nAdapt_a has a direct effect on the controller gain:
P = nAdapt_a ⋅ C00222
Example: With the parameterised controller gain Vp = 2.0 and nAdapt_a = 75 %, the resulting gain
factor is as follows:
75 [%]
P = ------------------- ⋅ 2.0 = 1.5
100 [%]
Integral action component (I component)

The I component can be selected via the input nISet_a. With a TRUE signal at bISet, the assigned
value is accepted in the PID controller.
• Setting the adjustment time Tn to the maximum value of "6000 ms" deactivates the I
component.
• The I component of the controller can also be deactivated by setting the input bIOff to TRUE.
• The I component can be switched on and off online.
Reset time
The adjustment time Tn is set under C00223.
Differential component Kd (D component)

The differential component Kd is set under C00224.
• The setting "0.0 s" deactivates the D component (Lenze setting). In this way, the PID controller
becomes a PI controller or P controller, if the I component has been deactivated as well.
17 Function library
________________________________________________________________
17.1.39.2 Ramp function generator

The PID output is led via a ramp function generator with linear characteristic. This serves to transfer
setpoint step-changes at the PID output into a ramp which should be as steep as possible.
RFG-OUT
100 %
w2
w1 t ir t if
0%
t
Tir Tif
w1, w2 = change of the main setpoint as a function of tir and tif

RFG-OUT = output of the ramp function generator
[17-19] Acceleration and deceleration times
• tir and tif are the desired times for changing between w1 and w2.
• The ramps for acceleration and deceleration can be set individually.
• C00227: Acceleration time tir
• C00228: Deceleration time tif
• The tir/tif values are converted into the required Ti times according to the following formula:
100 % 100 %
T ir = t ir ⋅ ----------------------- T if = t if ⋅ -----------------------
w2 – w1 w2 – w1
• The ramp function generator is immediately set to "0" by setting bInAct to TRUE.
17.1.39.3 Operating range of the PID process controller

The value range of the input signal nSet_a and thus the operating range of the PID process controller
can be limited with the following parameters:
• C00231/1: Pos. maximum (default setting: 199.99 %)
• C00231/2: Pos. minimum (default setting: 0.00 %)
• C00231/3: Neg. minimum (default setting: 0.00 %)
• C00231/4: Neg. maximum (default setting: 199.99 %)
17 Function library
________________________________________________________________
17.1.39.4 Evaluation of the output signal

After the limitation, the output signal is evaluated with the influencing factor nInfluence_a. The
evaluation is activated/suppressed along a ramp when the bEnableInfluenceRamp input is set to
TRUE. The ramp times are set with the parameters "Influence acceleration time" (C00243) and
"Influence deceleration time" (C00244).
17.1.39.5 Comparison function "Actual value = setpoint"

If setpoint and actual value are identical and there is no system deviation, the bSetEqAct status
output is set to TRUE.
• The hysteresis of the comparison function has a fixed value of 1 %.
• From version 06.00.00 onwards, the symmetrical window around the setpoint for the
comparison function can be set in C00247 (Lenze setting: 2 %).
bSetEqAct
TRUE
FALSE
Set value Act value
 Hysteresis (1 %, fixed value)
 C00247: Window
[17-20] Comparison function: Switching performance
Act value

Set value

t
bSetEqAct
TRUE
FALSE
t
 Hysteresis (1 %, fixed value)
 C00247: Window
[17-21] Comparison function: Example
17 Function library
________________________________________________________________
17.1.39.6 Control functions

The process controller has various digital inputs for controlling the FB:

Data type
bInAct Deactivate process controller temporarily (stop)

Note: This input is not interconnected in the LA_NCtrl application block.
TRUE • The current output value is frozen.
• However, a setpoint selected via input nNSet_a is still provided in
operating modes 0/1/4/5.
bIOff Switch off the I-component of the process controller
TRUE The I component of the process controller is set to zero.
bPIDOff Reset the entire PID controller
BOOL
(from version 06.00.00) TRUE • The I component of the controller is set to zero.
• The controller output is set to zero.
17 Function library
________________________________________________________________
17.1.40 L_PT1_1
This FB filters and delays analog signals.

• The filter time constant T can be set under C00249.
• The gain is defined with Vp = 1.
/B37B
& )LOWHUWLPH
Q,QBD Q2XWBD
Inputs

Data type
nIn_a Input signal

INT
Outputs
Data type
nOut Output signal

INT
Parameter

C00249 0 ms 5000 Filter time constant
• The filter is not active with a
setting of "0 ms". The input signal
is passed through one-to-one to
the output.
Function
Vp = 1
T t
[17-22] Filter time constant T of the first-order delay element
17 Function library
________________________________________________________________
17.1.41 L_RLQ_1
This FB links a selected direction of rotation to the quick stop function with wire-break protection.
/B5/4B
,QLW
,QLW
E&Z
E&FZ
6 E&Z&FZ
)$/6(
5

E4VS
758(
Inputs

Data type
bCw Input
BOOL • TRUE = CW rotation
bCCw Input
BOOL • TRUE = CCW rotation
Outputs
Data type
bQSP Output signal for quick stop (QSP)

BOOL
bCwCcw Output signal for CW/CCW rotation

BOOL • TRUE = CCW rotation
Function
Inputs Outputs Notes

bCw bCCw bCwCcw bQSP
TRUE TRUE FALSE TRUE The inputs have this status only if a TRUE signal is being applied to
both inputs at the moment of switch-on!
See also FB illustration above, "Init" = 1.
If one of the inputs has the TRUE status, the following truth table applies:
FALSE FALSE FALSE TRUE See also FB illustration above, "Init" = 0.
TRUE FALSE FALSE FALSE
FALSE TRUE TRUE FALSE
TRUE TRUE X (save)
[17-23] Truth table of the FB L_RLQ, 0 = FALSE, 1 = TRUE
17 Function library
________________________________________________________________
17.1.42 L_SignalMonitor_a
This FB outputs four analog signals which can be selected from a list of analog output signals of all
function blocks provided in the device.
• Offset and gain of the source signals are adjustable.
/B6LJQDO0RQLWRUBD
& & &
Q2XWBD
& & &

Q2XWBD
& & &

Q2XWBD
& & &

Q2XWBD
Outputs
Data type
nOut1_a Output signal

INT • Internal limitation to ±32767
Parameter

C00410/1 See selection list - analog signals Selection of the signal sources for
... nOut1_a ... nOut4_a
C00410/4
C00413/1 -199.99 % +199.99 Offset
C00413/3
C00413/5
C00413/7
C00413/2 -199.99 % +199.99 Gain
C00413/4
C00413/6
C00413/8
17 Function library
________________________________________________________________
17.1.43 L_SignalMonitor_b
This FB outputs four binary signals which can be selected from a list of binary output signals of all
function blocks provided in the device.
• Inversion of the output signals can be set.
/B6LJQDO0RQLWRUBE
& &%LW
E2XW

& &%LW
E2XW

& &%LW
E2XW

& &%LW
E2XW

Outputs
Data type
bOut1 Output signal

... FALSE / TRUE
bOut4
BOOL
Parameter

C00411/1 See selection list - digital signals Selection of the signal sources for
... bOut1 ... bOut4
C00411/4
C00412 Value is bit-coded: Inversion
Bit 0 bOut1 inverted • Bit set = inversion active
Bit 1 bOut2 inverted

Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
17 Function library
________________________________________________________________
17.1.44 L_Transient_1
This FB serves to evaluate digital signal edges and convert them into timed, retriggerable pulses.
Rising signal edges, falling signal edges or both signal edges can be evaluated.
/B7UDQVLHQWB
E,Q W E2XW
& &
Inputs

Data type
bIn Input for edge evaluation

BOOL • The function depends on the selection of edge evaluation in C01138/1.
Outputs
Data type
bOut Output (retriggerable)

BOOL
Parameter

C01138/1 Function
• Selection of edge evaluation
0 High edge Lenze setting
1 Low edge
2 High and low edge
C01139/1 0.001 s 60.000 Pulse duration
17 Function library
________________________________________________________________
17.1.44.1 Function 0: Evaluate rising signal edges
bIn
TRUE
FALSE
t
bOut
TRUE
FALSE
t

 Pulse duration
[17-24] Switching performance for function selection "0: High edge"
Functional sequence
1. A FALSE-TRUE edge at the bIn input sets the bOut output to TRUE.
2. After the parameterised pulse duration has elapsed, the bOut output is reset to FALSE unless
another FALSE/TRUE edge has been set at the bIn input.
• If an additional FALSE-TRUE edge occurs at the bIn input, the pulse duration starts again from
the beginning, i.e. the bOut output can be retriggered.
17.1.44.2 Function 1: Evaluate falling signal edges
bIn
TRUE
FALSE
t
bOut
TRUE
FALSE
t

 Pulse duration
[17-25] Switching performance for function selection "1: Low edge"
Functional sequence
1. A TRUE-FALSE edge at the bIn inputs sets the bOut output to TRUE.
another TRUE/FALSE edge has been set at the bIn input.
• If an additional TRUE-FALSE edge occurs at the bIn input, the pulse duration starts again from
the beginning, i.e. the bOut output can be retriggered.
17 Function library
________________________________________________________________
17.1.44.3 Function 2: Evaluate rising and falling signal edges
bIn
TRUE
FALSE
t
bOut
TRUE
FALSE
t

 Pulse duration
[17-26] Switching performance for function selection "2: High and low edge"
Functional sequence
1. A signal change (FALSE/TRUE edge or TRUE/FALSE edge) at the bIn input sets the bOut output to
TRUE.
another signal change has taken place at the bIn input.
• In case of another signal change at the input bIn, the pulse time restarts to elapse, i.e. the
output bOut can be retriggered.
17 Function library
________________________________________________________________
/B7UDQVLHQWB
E,Q W E2XW
& &
Inputs

Data type

Outputs
Data type

BOOL
Parameter

C01138/2 Function
1 Low edge
2 High and low edge
 For a detailed functional description see L_Transient_1.
17 Function library
________________________________________________________________
/B7UDQVLHQWB
E,Q W E2XW
& &
Inputs

Data type

Outputs
Data type

BOOL
Parameter

C01138/3 Function
1 Low edge
2 High and low edge
17 Function library
________________________________________________________________
/B7UDQVLHQWB
E,Q W E2XW
& &
Inputs

Data type

Outputs
Data type

BOOL
Parameter

C01138/4 Function
1 Low edge
2 High and low edge
17 Function library
17.2 System blocks
________________________________________________________________
17.2 System blocks
This chapter describes the system blocks which are available for the controller in the FB Editor.
 The function blocks are described in the previous chapter "Function blocks". ( 909)
Overview of system blocks available
System block Function can be inserted into

level:
I/O Appl.
LS_AnalogInput Interface to the analog input terminals 

Analog terminals ( 280)
LS_CANManagement Control of internal functions of the CAN driver and display of the  
"Operational" status as well as the node address
System bus "CAN on board" ( 488)
LS_DataAccess Lenze internal only 
LS_DeviceMonitor Motor control status signals 
LS_DigitalInput Interface to the digital input terminals 
LS_DigitalOutput Interface to the digital output terminals 
LS_DisFree Display of 4 arbitrary 16-bit signals of the application on display  
codes
LS_DisFree_a Display of 4 arbitrary analog signals of the application on display  
codes
LS_DisFree_b Display of 8 arbitrary digital signals of the application on a bit  
coded display code
LS_DriveInterface Interface to drive control (DCTRL) 
Device control (DCTRL) ( 72)
LS_Keypad Control via keypad 
LS_MotionControlKernel Interface to the basic drive function implemented in the Motion 
Control Kernel (MCK)
Basic drive functions (MCK) ( 390)
LS_MotorInterface Interface to motor control (MCTRL) 
LS_ParFix Output of frequently used constants (TRUE, FALSE, 100 %, etc.) to  
be used in the interconnection
LS_ParFree Output of 4 parameterisable 16-bit signals  
LS_ParFree_a Output of 4 parameterisable analog signals  
LS_ParFree_b Output of 16 parameterisable digital signals  
LS_ParFree_p Output of 4 parameterisable position signals  
• This SB is available from version 11.00.00.
LS_ParFree_v Output of 4 parameterisable speed signals  
LS_ParReadWrite_1 Reading/Writing of local parameters  
...
LS_ParReadWrite_3
LS_PulseGenerator Output of 9 fixed frequencies and 1 parameterisable frequency  
LS_SetError_1 Parameterisable responses to user-defined events are tripped  
17 Function library
17.2 System blocks
________________________________________________________________
System block Function can be inserted into

level:
I/O Appl.
LS_SyncManagement Output of status information for synchronising the internal time  

base
Synchronisation of the internal time base ( 575)
LS_WriteParamList Interface to the basic "Parameter change-over" function 
Parameter change-over ( 577)
• This SB is available from version 04.00.00.
Related topics:
Overview of function blocks available ( 909)
Working with the FB Editor ( 857)
17 Function library
17.2 System blocks
________________________________________________________________
17.2.1 LS_AnalogInput
Interface to the analog input terminals.
 For a detailed description see the main chapter "I/O terminals":

Internal interfaces | System block "LS_AnalogInput" ( 287)
17.2.2 LS_CANManagement
Control of internal functions of the CAN driver and display of the "Operational" status as well as the
node address.
 For a detailed description see the main chapter "System bus CAN on board":
Internal interfaces | System block "LS_CANManagement" ( 567)
17.2.3 LS_DataAccess
Only for Lenze-internal use.
17.2.4 LS_DeviceMonitor
Motor control status signals.
 For a detailed description see the main chapter "Motor control (MCTRL)":
Internal status signals | System block "LS_DeviceMonitor" ( 257)
17.2.5 LS_DigitalInput
Interface to the digital input terminals.

17.2.6 LS_DigitalOutput
Interface to the digital output terminals.

Internal interfaces | System block "LS_DigitalOutput" ( 279)
17 Function library
17.2 System blocks
________________________________________________________________
17.2.7 LS_DisFree
This system block displays 4 arbitrary 16-bit signals of the application on display codes.
/6B'LV)UHH
Z'LV
&
Z'LV
&
Z'LV
&
Z'LV
&
Inputs

Data type
wDis1 ... wDis4 Inputs for any 16-bit signals of the application
WORD
Note: From version 11.00.00 the inputs are named according to the display
wC481_1 ... wC481_4_a parameter for an easier allocation.
Parameter

C00481/1...4 0x0000 0xFFFF Display of the 16-bit signals which
are applied at the wDis1 ... wDis4
inputs
17 Function library
17.2 System blocks
________________________________________________________________
17.2.8 LS_DisFree_a
This system block displays 4 arbitrary analog signals of the application on display codes.
/6B'LV)UHHBD
Q'LVBD 2IIVHW 8VHUXQLW
& & 'LVSOD\IDFWRU 7H[W &
& > & @


& > & @


& > & @


& > & @

Inputs

Data type
nDis1_a ... nDis4_a Inputs for arbitrary analog signals of the application
INT
nC482_1_a ... nC482_4_a parameter for an easier allocation.
Parameter

C00482/1...4 -199.99 % 199.99 % Display of the analog signals which
are applied at the nDis1_a ... nDis4_a
inputs
C00484/1...4 From version 06.00.00 onwards:
... Display of internal process factors in application units
C00487/1...4
17 Function library
17.2 System blocks
________________________________________________________________
17.2.8.1 Display of internal process factors in application units

In addition to the display in percent in C00482/1...8, for the first four analog signals
nDis1_a ... nDis4_a the configurable display parameters C00487/1...4 are provided. Via these
display parameters, internal process variables can be displayed, e.g. on the keypad, with an
individual scaling and an individual unit (from keypad version 02.01).
Configuration of the display parameters (C00487/1...4):

C00484/1...4 -199.99 % 199.99 Offset 1 ... 4
• See formula [17-27].
C00485/1...4 -65536.0000 65536.0000 Display factor 1 ... 4
• Scaling of the input variable for
the display.
• See formula [17-27].
C00486/1...4 String of digits Text 1 ... 4
(max. 7 digits) • For each display value, an
individual unit (e.g. "parts") can be
set.
nDis1_a [%] + Offset 1 [%]

User unit 1 = -------------------------------------------------------------------- ⋅ Display factor 1 [text 1]
100 [%]
[17-27] Formula for scaling the display
Example 1:
• Input variable nDis1_a = 100 %
• Offset 1 (C00484/1) = 0 %
• Display factor 1 (C00485/1) = 123.45
• Text 1 (C00486/1) = "parts"
100 [%] + 0 [%]

User unit 1 = --------------------------------------- ⋅ 123.45 [parts] = 123.45 parts
100 [%]
Example 2:
• Input variable nDis2_a = 40 %
• Offset 2 (C00484/2) = 35 %
• Display factor 2 (C00485/2) = 20
• Text 2 (C00486/2) = "kg"
40 [%] + 35 [%]
User unit 2 = --------------------------------------- ⋅ 20 [kg] = 15.00 kg
100 [%]
17 Function library
17.2 System blocks
________________________________________________________________
17.2.9 LS_DisFree_b
This system block displays 8 arbitrary digital signals of the application on a bit coded display code.
/6B'LV)UHHBE
E'LV
%LW
E'LV
%LW
E'LV
%LW
&
E'LV
%LW
E'LV
%LW
Inputs

Data type
bDis1 ... bDis8 Inputs for arbitrary digital signals of the application
BOOL
bC480_B0 ... bC480_B7 parameter for an easier allocation.
Parameter

C00480 0x0000 0xFFFF Display of the digital signals as
hexadecimal values which are
Bit 0 Signal level at the bDis1 input
applied at the bDis1 ... bDis8 inputs
... ...
17.2.10 LS_DriveInterface
Interface to internal device control.
 For a detailed description see main chapter "Device control (DCTRL)":

Internal interfaces | "LS_DriveInterface" system block ( 98)
17 Function library
17.2 System blocks
________________________________________________________________
17.2.11 LS_Keypad
This system block is used on I/O interconnection level if the "Keypad" control mode has been
selected in C00007.
In the "Keypad" control mode, the LS_Keypad system block passes on various setpoints and control
commands to the technology application which can be selected/activated via codes using the
keypad.
/6B.H\SDG
E6HW4XLFNVWRS
&
E6HW'&%UDNH
&
Q7RUTXH0RW/LP
&
Q7RUTXH*HQ/LP
&
E6HW6SHHG&FZ
&
Q0DLQ6HW9DOXH
&
E-RJ6SHHG
&
E-RJ6SHHG
&
E03RW(QDEOH
&
E03RW8S
&
E03RW'RZQ
&
Outputs
Data type
bSetQuickstop C00727/1 = "1" ≡ Request quick stop

BOOL
bSetDCBrake C00727/2 = "1" ≡ Request DC-injection braking

BOOL
nTorqueMotLim Torque limit in motor mode set in C00728/1

INT • Lenze setting: 100.00 %
nTorqueGenLim Torque limit in generator mode set in C00728/2
bSetSpeedCcw C00727/3 = "1" ≡ Request reversal
BOOL
nMainSetValue Setpoint speed set in C00728/3

bJogSpeed1 C00727/4 = "1" ≡ Request fixed speed setpoint 1
BOOL
bJogSpeed2 C00727/5 = "1" ≡ Request fixed speed setpoint 2

BOOL
bMPotEnable C00727/6 = "1" ≡ Motor potentiometer: Request activation

BOOL
bMPotUp C00727/7 = "1" ≡ Motor potentiometer: Request positive acceleration

BOOL
bMPotDown C00727/8 = "1" ≡ Motor potentiometer: Request negative acceleration

BOOL
17 Function library
17.2 System blocks
________________________________________________________________
Parameter

C00727/1...8 0 1 Keypad digital values
• Execution of control commands
for keypad operation
• See the "Outputs" table for the
meaning of the individual
subcodes
C00728/1...3 -199.99 % 199.99 Analog values - keypad
• Selection of various setpoints for
operation via keypad
• See the "Outputs" table for the
meaning of the individual
subcodes
17.2.12 LS_MotionControlKernel
Interface to the basic drive functions implemented in Motion Control Kernel (MCK).
 For a detailed description see the main chapter "Basic drive functions":
Internal interfaces | System block "LS_MotionControlKernel" ( 392)
17.2.13 LS_MotorInterface
Interface to internal motor control.
 For a detailed description see the main chapterl "Motor control (MCTRL)":
Internal interfaces | System block "LS_MotorInterface" ( 251)
17 Function library
17.2 System blocks
________________________________________________________________
17.2.14 LS_ParFix
This system block outputs various fixed values (constants) to be used in the interconnection.
/6B3DU)L[
E7UXH
758(
Q3RVBD

Q1HJBD

Q3RVBBD

Q1HJBBD

Z
[))))
Z'ULYH&WUO
[
6ZLWFK2Q 758(
(QDEOH2SHUDWLRQ 758(
Outputs
Data type
bTrue 1 ≡ TRUE
BOOL
nPos100_a 16384 ≡ + 100 %

INT
nNeg100_a -16384 ≡ - 100 %

INT
nPos199_99_a 32767 ≡ + 199.99 %

INT
nNeg199_99_a -32767 ≡ - 199.99 %

INT
w65535 65535 ≡ 0xFFFF

WORD
wDriveCtrl 9 ≡ 0x0009
WORD • Bit 0, SwitchOn = TRUE
• Bit 3, EnableOperation = TRUE
• All others: FALSE
See also:
17 Function library
17.2 System blocks
________________________________________________________________
17.2.15 LS_ParFree
This system block outputs 4 parameterisable 16-bit signals.
/6B3DU)UHH
Z3DU
&
Z3DU
&
Z3DU
&
Z3DU
&
Outputs
Data type
wPar1 ... wPar4 Output of the 16-bit signals parameterised in C00471/1...4

WORD
Note: From version 11.00.00 the outputs are named according to the respective
wC471_1 ... wC471_4 setting parameter for an easier allocation.
Parameter

C00471/1...4 0x0000 0xFFFF Setting of the 16-bit signals to be
output
17 Function library
17.2 System blocks
________________________________________________________________
17.2.16 LS_ParFree_a
This system block outputs 4 parameterisable analog signals.
/6B3DU)UHHBD
Q3DUBD
&
Q3DUBD
&
Q3DUBD
&
Q3DUBD
&
Outputs
Data type
nPar1_a ... nPar4_a Output of the analog signals parameterised in C00472/1...4

INT
nC472_1_a ... nC472_4_a setting parameter for an easier allocation.
Parameter

C00472/1...4 -199.99 % +199.99 Selection of analog signals to be
output
17 Function library
17.2 System blocks
________________________________________________________________
17.2.17 LS_ParFree_b
This system block outputs 16 parameterisable digital signals.
/6B3DU)UHHBE
E3DU
&
E3DU
&
E3DU
&
E3DU
&
E3DU
&
Outputs
Data type
bPar1 ... bPar16 Output of the signal levels (FALSE/TRUE) parameterised in C00470/1...16
BOOL
bC470_1 ... bC470_16 setting parameter for an easier allocation.
Parameter

C00470/1...16 Selection of signal levels to be output
0 "FALSE" signal is output • Bit 0 ... 15 = bPar1 ... bPar16
1 "TRUE" signal is output
17 Function library
17.2 System blocks
________________________________________________________________
17.2.18 LS_ParFree_p
This system block outputs 4 parameterisable position signals.
/6B3DU)UHHBS
GQ&BBS
&
GQ&BBS
&
GQ&BBS
&
GQ&BBS
&
Outputs
Data type
dnC474_1_p ... dnC474_4_p Output of the position signals parameterised in C00474/1...4

DINT
Parameter

C00474/1...4 -2147483647 Incr. 2147483647 Setting of the position signals to be
output
17 Function library
17.2 System blocks
________________________________________________________________
17.2.19 LS_ParFree_v
This system block outputs 4 parameterisable speed signals.
/6B3DU)UHHBY
Q3DUBY
&
Q3DUBY
&
Q3DUBY
&
Q3DUBY
&
Outputs

Data type
nPar1_v ... nPar4_v Output of the speed signals parameterised in C00473/1...4

INT
nC473_1_v ... nC473_4_v setting parameter for an easier allocation.
Parameter

C00473/1...4 -32767 Incr/ms +32767 Selection of speed signals to be
output
17 Function library
17.2 System blocks
________________________________________________________________
17.2.20 LS_ParReadWrite_1-3
The LS_ParReadWrite_1 ... LS_ParReadWrite_3 system blocks are used for reading and writing local
parameters.
• If several system blocks are activated at the same time, the blocks will be processed one at a
time every time the main program is executed.
• The SB supports one-time and cyclic reading/writing in an adjustable time interval.
/6B3DU5HDG:ULWHB[
E([HFXWH &[ &\FOHWLPH E'RQH
E5HDG:ULWH &[ 6WDWH E)DLO
&[ 3DU,QGH[
3DU6XELQGH[
Z3DU,QGH[
Z3DU6XELQGH[ &
&[ &[
Z,Q+:RUG :ULWH 5HDG Z2XW+:RUG
Z,Q/:RUG Z2XW/:RUG

$ULWKPHWLF &[ 1XPHUDWRU $ULWKPHWLF
PRGH &[ 'HQRPLQDWRU PRGH
Inputs

Data type
bExecute Trip read/write request

BOOL
FALSETRUE If cycle time (C01091) = "0 ms":
One-time reading/writing of the parameter value which has been
addressed via thewParIndex and wParSubindex inputs.
If cycle time (C01091) > "0 ms":
Cyclic reading/writing of the parameter value which has been
addressed via the wParIndex and wParSubindex inputs.
TRUEFALSE Deactivate cyclic reading/writing again.
bReadWrite Selection: Read or write request
BOOL
FALSE Read request
TRUE Write request
wParIndex Code to be read or written.
WORD • From version 06.00.00 onwards, this selection can be optionally carried out via
C01090.
wParSubindex Subcode to be read or written.
WORD • From version 06.00.00 onwards, this selection can be optionally carried out via
C01090.
wInHWord Value to be written (DataHigh/DataLow portion)
wInLWord
WORD
17 Function library
17.2 System blocks
________________________________________________________________
Outputs
Data type
bDone "Read/Write request successfully completed" status signal

BOOL • The output is automatically reset to FALSE if a new request is activated via
bExecute or the cycle time (C01091) expires.
TRUE Read/Write request successfully completed.
FALSE The FALSE status can have the following meanings:
1. There is no active read/write request.
2. The read/write request has not been completed yet.
3. An error has occurred (if bFail = TRUE).
bFail "Error" status
BOOL
TRUE An error has occurred (group signal).
• See display parameter (C01092) for details.
wOutHWord Value which was read (DataHigh/DataLow portion) after read request
wOutLWord
WORD
Parameter

C01090/1...3 0,000 16000,000 Parameter to be read or written.
Format: • For a setting of "0,000", inputs
wParIndex and wParSubindex are
<Code number>,<subcode number>
effective for addressing purposes
instead.
C01091/1...3 Cycle time
0 One-time reading/writing at • Subcode 1 = LS_ParReadWrite_1
bExecute in case of a FALSE/TRUE Subcode 2 = LS_ParReadWrite_2
edge Subcode 3 = LS_ParReadWrite_3
Cyclic reading/writing:
20 20 ms
50 50 ms
100 100 ms
200 200 ms
500 500 ms
1000 1 s
2000 2 s
5000 5 s
10000 10 s
17 Function library
17.2 System blocks
________________________________________________________________

C01092/1...3 Error status
0 No error • If bFail = TRUE:
Error status is displayed.
33803 Invalid data type (e.g. STRING) • Subcode 1 = LS_ParReadWrite_1
33804 Limit violation Subcode 2 = LS_ParReadWrite_2
Subcode 3 = LS_ParReadWrite_3
33806 Invalid code
33813 No element of the selection list
33815 Writing of the parameter not
permitted
33816 Writing of the parameter only
permitted if controller is inhibited
33829 Invalid subcode
33865 No parameter with subcodes
C01093/1...3 Arithmetic mode
0 No arithmetic • Lenze setting:"0: No arithmetic"
Arithmetic function
1 In16Bit: LW=+/-32767
2 In16Bit: HW=+/-; LW=0..65535
3 In32Bit: HW_LW=+/-2147483647
C01094/1...3 -32767 32767 Counter
(from version 06.00.00) • For internal conversion in
arithmetic modes 1 ... 3.
C01095/1...3 1 32767 Denominator
(from version 06.00.00) • For internal conversion in
arithmetic modes 1 ... 3.
17 Function library
17.2 System blocks
________________________________________________________________
17.2.20.1 Arithmetic function

The implemented arithmetic function enables easy arithmetic conversion of the process values to
be written or read via parameterisable factors into the format of the target parameter without the
need of an additional arithmetic function block.
• In C01093, the interpretation of the wInHWord and wInLWord inputs can be set to be able to
write to parameters:
Arithmetic mode wInHWord wInLWord Internal conversion

0 No arithmetic INTEGER_32 No
(Lenze setting) (4 bytes with sign) (same behaviour as
before)
DataHigh portion DataLow portion
1 In16Bit: - INTEGER_16 Yes
LW=+/-32767 (2 bytes with sign) (see the following
section)
2 In16Bit: HW=+/-; Sign UNSIGNED_16
LW=0..65535 (0 ≡ positive value) (2 bytes without sign)
3 In32Bit: HW_LW= INTEGER_32
+/-2147483647 (4 bytes with sign)
DataHigh portion DataLow portion
Internal conversion
If arithmetic modes 1 ... 3 are selected in C01093, the input value / read parameter value is
internally converted via parameterisable factors.
Counter [16]
parameter value to be written = Input value [32] ⋅ -------------------------------------------
Denominator [16]
C01094: Numerator
C01095: Denominator
[17-28] Internal conversion with write access
Counter [16]
Output value [32] = Read parameter value ⋅ -------------------------------------------
Denominator [16]
C01094: Numerator
C01095: Denominator
[17-29] Internal conversion with read access
17 Function library
17.2 System blocks
________________________________________________________________
17.2.21 LS_PulseGenerator
This system block outputs 9 different fixed frequencies and 1 frequency with parameterisable
pulse/dead time.
From version 06.00.00 onwards, the SB provides a TRUE signal at the bFirstCycleDone output when
the first 1-ms processing cycle is completed and the time set in C00400/3 has expired. This status
signal can e.g. be used for the delayed enable of peripheral devices or motor control setpoints so
that all required initial values are calculated first after the controller switch-on.
/6B3XOVH*HQHUDWRU
E+]
+]
E+]
E+]
E+]
E+])ODVK
E+])ODVK
E6LQJOH)ODVK
E6LQJOH)ODVK
E'RXEOH)ODVK
E6TXDUH:DYH
& &
E)LUVW&\FOH'RQH
&
Outputs
Data type
b100Hz Rectangular signal 100 Hz

BOOL

BOOL

BOOL

BOOL
b1HzFlash 80 ms-pulse, repetition rate every second

BOOL
b2HzFlash 80 ms-pulse, repetition rate every 0.5 seconds

BOOL
bSingleFlash1 80 ms pulse, repetition rate every 1.25 seconds

BOOL
bSingleFlash2 80 ms pulse, repetition rate every 3 seconds

BOOL
bDoubleFlash 80 ms-double pulse, repetition rate every 1.25 seconds

BOOL
bSquareWave Output frequency with pulse/dead time set in C00400/1...2

BOOL
bFirstCycleDone Status signal "First processing cycle completed"

BOOL
(from version 06.00.00) TRUE The first 1-ms processing cycle has been completed and the time set
in C00400/3 has expired (i.e. all FBs have been called at least once).
17 Function library
17.2 System blocks
________________________________________________________________
Parameter
 Note!
The real length of the low or high level at the bSquareWave output is always 1 ms higher
than set in C00400/1 or C00400/2. If "0 ms" is set, a level with a length of 1 ms is created
length, for instance, and if "1000 ms" is set, a level with a length of 1001 ms is created.

C00400/1 0 ms 60000 Length of the low level (break) + 1 ms
• For output bSquareWave
C00400/2 0 ms 60000 Length of the high level + 1 ms
• For output bSquareWave
C00400/3 0 ms 60000 Delay of the status bFirstCycleDone
(from version 06.00.00) • Lenze setting: 100 ms
17.2.22 LS_SetError_1
Parameterisable responses to user-defined events are tripped.
 For a detailed description see the main chapter "Diagnostics & error management":
"LS_SetError_1" system block ( 471)
17.2.23 LS_SyncManagement
Output of status information for synchronising the internal time base.
 For a detailed description see main chapter "Synchronisation of the internal time base of
the controller":
Internal interfaces | System block "LS_SyncManagement" ( 576)
17.2.24 LS_WriteParamList
Writing to a configurable list which contains up to 32 local parameters.
 For a detailed description see the main chapterl "Parameter change-over". ( 577)
Index
________________________________________________________________
Symbols Application units

"DRV-ERR" LED 422 Configuration of the display parameters 995
Display factor (C00485) 694
"DRV-RDY" LED 422
Offset (C00484) 694
»Engineer« motor catalogue 109
Text (C00486) 694
Application units (C00487) 695
Numbers
Assignment of the process data objects 504
120 % operation 206
Auto-DCB 212
16-bit inputs (C00831) 747
Hold time (C00106) 622
16-bit inputs [%] (C00830) 744
Threshold (C00019) 608
16-bit inputs I/O level (C00841) 754
AutoFailReset configuration (C00188) 645
16-bit inputs I/O level [%] (C00840) 753
AutoFailReset repetition time (C00184) 644
24 V supply voltage (C00065) 615
AutoFailReset residual runtime (C00185) 645
32-bit inputs [incr] (C00834) 752
Automatic DC-injection braking (auto DCB) 212
32-bit inputs I/O level [incr] (C00844) 758
Automatic motor data identification 111
87-Hz operation 134
Auto-start option 95
Auto-start option (C00142) 629
A
Accel. time - main setpoint (C00012) 606 B
Access protection 35
Basic drive functions 390
Accessories for commissioning 26
Basic functions 390
ACDrive
Behaviour after mains connection 95
Control word (C01351) 784
Binary inputs (C00833) 749
Drive mode (C01350) 783
Binary inputs I/O level (C00843) 756
Setpoint scaling (C01353) 786
Status word (C01352) 785 Binding ID 40
Acknowledgement error 536 Bit error 536
Activating the bus terminating resistor 492 Brake chopper 226
Master-slave operation 234
Active COBID (C00355) 669
Brake control 402
Actual values (C00055) 613
Brake energy management (C00175) 642
Adapting keypad menus 29
Brake resistance value (C00129) 624
Add. accel. time x (C00101) 621
Brake resistor 226
Add. decel. time x (C00103) 621
Brake resistor monitoring (I2xt) 243
AIN1
Characteristic (C00010) 605 Brake resistor overload threshold (C00572) 705
AINx Brake resistor utilisation (C00133) 625
Configuration (C00034) 610 Braking operation 226
Gain (C00027) 609 Braking procedures 229
Input current (C00029) 610
Input voltage (C00028) 609 C
Offset (C00026) 609 C1 597
Output value (C00033) 610 C10 605
An01: AIN1_I < 4 mA (error message) 461 C100 621
Analog terminals 280 C1000 775
For electrical data see the hardware manual C1001 775
User-defined terminal assignment 289 C101 621, 954
AOut1 C103 621, 954
Decoupling value (C00442) 683
C105 621
Appl.
C106 622
Reference frequency C11 (C00059) 614
C107 622
Reference speed (C00011) 606
C1082 588, 776
Application (C00005) 600
C1083 776
Application block "LA_NCtrl" 301, 330
C1084 776
Application block "LA_SwitchPos" 361
C1085 777
Application notes 19
C1086 777
Index
________________________________________________________________
C1087 777 C166 640

C1088 778 C167 640
C1089 778 C168 640
C1090 778, 1006 C169 641
C1091 779, 1006 C170 641
C1092 779, 1007 C171 641
C1093 780, 1007 C173 642
C1094 780, 1007 C174 642
C1095 780, 1007 C175 642
C11 606 C1751 786
C1120 781 C1752 786
C1121 781 C1755 786
C1122 781 C176 643
C1123 782 C1763 787
C1124 782 C1764 787
C1138 782, 984, 987, 988, 989 C1765 787
C1139 783, 984, 987, 988, 989 C177 643
C114 622 C1770 787
C115 623 C1771 787
C118 623 C1772 787
C12 606, 954 C1773 787
C120 623 C1774 787
C122 624 C1775 788
C123 624 C178 643
C129 624 C179 643
C13 606, 954 C18 607
C130 624 C180 644
C131 625 C181 644
C133 625 C182 644, 954
C134 625, 954 C184 644
C1350 783 C185 645
C1351 784 C186 645
C1352 785 C187 645
C1353 786 C188 645
C136 626 C189 646
C137 627 C19 608
C138 628 C190 646, 954
C142 629 C1902 788
C144 629 C1903 788
C148 630 C1905 788
C15 606 C191 646
C150 631 C192 647
C1501 786 C193 647
C155 632 C199 647
C158 633 C2 597
C159 634 C200 648
C16 607 C201 648
C160 634 C203 648
C161 635 C204 649
C162 635 C205 649
C163 635 C206 649
C164 638 C21 608
C165 639 C210 649
Index
________________________________________________________________
C219 649 C2276 804

C22 608 C2278 805
C220 650, 954 C2279 805
C2200 789 C228 651, 974
C221 650, 955 C2280 805
C2210 789 C2281 806
C2212 789 C2284 806
C2213 790 C2285 806
C2214 790 C2286 807
C2215 791 C2287 807
C2216 791 C2288 807
C2217 791 C2289 808
C2218 792 C2290 808
C2219 792 C2291 808
C222 650, 974 C2292 809
C2220 792 C2293 809
C2221 793 C2294 809
C2222 793 C2295 810
C2223 794 C2296 810
C2224 794 C2297 810
C2225 794 C2298 811
C2226 795 C2299 811
C2229 795 C23 608
C223 650, 974 C2300 811
C2230 796 C2301 812
C2231 796 C2302 812
C2232 796 C2303 812
C2233 797 C2304 813
C2234 797 C2305 813
C2236 797 C2306 815
C2237 798 C2307 815
C2238 798 C231 651, 974
C2239 798 C2311 815
C224 650, 974 C2312 816
C2240 799 C2313 816
C2241 799 C2314 817
C2242 799 C2315 817
C2244 800 C233 652, 975
C2245 800 C234 652
C2246 800 C235 652
C2249 801 C236 652
C225 651, 974 C24 609
C2250 801 C241 652, 955
C2251 801 C242 653, 975
C2256 802 C243 653, 975
C226 651, 974 C244 653, 975
C2260 802 C245 653, 975
C2264 802 C246 654, 975
C227 651, 974 C247 654, 975
C2272 803 C249 654, 980
C2273 803 C254 654
C2274 804 C2580 817
C2275 804 C2581 818
Index
________________________________________________________________
C2582 818 C305 657

C2589 820 C306 657
C2593 820 C307 657
C26 609 C308 657
C2607 821 C309 657
C2610 822 C310 657
C2611 822 C311 657
C265 654 C312 658
C27 609 C313 658
C270 654 C314 658
C271 655 C315 658
C272 655 C316 658
C273 655 C317 658
C274 655 C320 658
C275 655 C321 659
C276 656 C322 659
C28 609 C323 660
C280 656 C324 660
C2830 823 C33 610
C2840 824 C338 661, 919
C2841 824 C339 661, 920
C2842 824 C34 610
C2843 824 C341 662
C2844 276, 825 C342 663
C2845 276, 825 C343 664
C2853 826 C344 665
C2855 826 C345 665
C2859 826 C347 666
C2864 827 C349 666
C2865 828 C350 667
C2866 829 C351 667
C2867 830 C352 667
C2870 830 C353 668
C2871 830 C354 668
C2872 831 C355 669
C2873 831 C356 669
C2874 832 C357 670
C2875 832 C358 670
C2879 833 C359 670
C29 610 C36 611
C290 656 C360 671
C291 656 C364 671
C295 656 C366 672
C296 656 C367 672
C297 656 C368 673
C2993 833 C369 673
C2994 833 C370 674
C2995 833 C371 674
C2998 834 C372 674
C3 600 C381 674
C301 656 C385 675
C302 657 C386 675
C304 657 C387 675
Index
________________________________________________________________
C39 611, 954 C487 695, 995

C400 676, 1010 C488 695
C401 676 C490 696
C407 677 C495 696
C408 677 C496 696
C409 678 C497 696
C410 678, 982 C5 600
C411 679, 983 C50 611
C412 679, 983 C505 697
C413 679, 982 C506 697
C420 680 C507 698
C423 680 C508 699
C425 680 C509 700
C434 681 C51 612
C435 681 C510 701
C436 681 C516 701
C439 681 C517 702
C440 682 C52 612
C441 682 C53 612
C442 683 C54 612
C443 683 C55 613
C444 684 C56 613
C445 684 C560 703
C446 685 C561 703
C447 685 C565 703
C448 686 C566 704
C449 686 C567 704
C453 687 C569 704
C455 687 C57 613
C456 687 C570 705
C458 687 C571 705
C459 687 C572 705
C460 687 C574 706
C461 688 C579 706
C462 688 C58 613
C463 689 C580 706
C464 690 C581 707
C465 690 C582 707
C466 690 C585 707
C467 690 C586 708
C468 690 C588 708
C469 691 C59 614
C470 691, 1002 C590 708
C471 691, 1000 C592 709
C472 692, 1001 C593 709
C473 692, 1004 C594 710
C474 692, 1003 C595 710
C480 693, 996 C597 711
C481 693, 993 C598 711
C482 693, 994 C599 711
C484 694, 995 C6 601
C485 694, 995 C600 712
C486 694, 995 C601 712
Index
________________________________________________________________
C602 712 C720 733, 930

C604 712 C725 734
C606 713 C726 734
C607 713 C727 735, 998
C608 713 C728 735, 998
C609 713 C729 735
C61 614 C73 616
C610 713 C730 735
C611 714 C731 736
C612 714 C732 736
C62 614 C734 736
C620 714 C735 736
C621 716 C736 736
C622 722 C74 616
C632 722, 955 C740 736
C633 723, 955 C741 736
C634 723, 955 C742 736
C635 724, 955 C743 736
C636 724, 955 C744 737
C637 724, 955 C746 737
C638 724, 955 C747 737
C639 724, 955 C748 737
C64 614 C749 737
C640 725, 955 C75 616
C643 725 C750 737
C65 615 C751 737
C653 725 C753 737
C654 726 C76 617
C66 615 C760 738
C670 726, 965 C761 739
C671 726, 966 C762 741
C672 726, 967 C765 741
C680 727, 921 C766 741
C681 727, 921 C767 741
C682 727, 921 C79 617
C685 727, 926 C8 604
C686 728, 926 C80 617
C687 728, 926 C800 741, 945
C690 728, 927 C801 742, 945
C691 728, 927 C802 742, 945
C692 729, 927 C803 742, 945
C696 729, 965 C804 742, 945
C697 729, 966 C805 742
C698 729, 967 C806 743, 945
C699 729, 948 C81 617
C7 602 C82 618
C70 615 C820 743, 932
C700 730 C821 743, 933
C701 731 C828 744, 934
C705 733 C829 744, 935
C706 733 C83 618
C71 615 C830 744
C72 616 C831 747
Index
________________________________________________________________
C833 749 C982 770

C834 752 C983 770
C84 618 C985 771
C840 753 C986 771
C841 754 C987 771
C843 756 C988 771
C844 758 C989 771
C85 618 C99 620
C866 759 C990 772
C868 760 C991 772
C87 618 C992 772
C876 761 C993 772
C877 762 C994 773
C88 619 C995 773
C89 619 C996 773
C890 762 C997 773
C90 619 C998 774
C905 763 C999 774
C909 763 CA06: CAN CRC error (error message) 462
C91 619 CA07: CAN bus warning (error message) 462
C910 763 CA08: CAN bus stopped (error message) 463
C915 764 CA0b: CAN HeartBeatEvent (error message) 463
C916 764 CA0F: CAN control word (error message) 463
C917 764 Calculating mass inertia (SLVC) 171
C919 764 CAN baud rate (C00351) 667
C92 619 CAN data telegram 496
C922 764 CAN decoupling PDOInOut (C00342) 663
C93 620 CAN error status (C00345) 665
C937 765 CAN ErrorCode (C00371) 674
C938 765 CAN Heartbeat producer time (C00381) 674
C939 765 CAN IN/OUT COBID source (C00353) 668
C95 620 CAN input words (C00866) 759
C950 765, 940 CAN management - error configuration (C00341) 662
C951 766, 940 CAN MessageError (C00364) 671
C952 766, 940 CAN monitoring times (C00357) 670
C953 766, 940 CAN node addr. HeartBeat producer (C00385) 675
C965 766 CAN node address (C00350) 667
C966 766 CAN on board 488
C967 767 CAN output words (C00868) 760
C968 767 CAN reset node 495
C969 768 CAN setting - DIP switch (C00349) 666
C97 620 CAN slave/master (C00352) 667
C971 768 CAN start remote node 502
C972 768 CAN status (C00359) 670
C973 768 CAN status HeartBeat producer (C00347) 666
C975 769 CAN SYNC Rx identifier (C00367) 672
C976 769 CAN sync transmission cycle time (C00369) 673
C977 769 CAN SYNC Tx identifier (C00368) 673
C978 769 CAN telegram counter (C00360) 671
C979 769 CAN time settings (C00356) 669
C98 620 CAN transmission blocking time (C00324) 660
C980 770 CAN_Tx_Rx_Error (C00372) 674
C981 770 CAN-ERR (LED) 494
Index
________________________________________________________________
CAN-GatewayAddr (C00387) 675 D

CAN-RUN (LED) 494 Data type 592
CANx_OUT data length (C00358) 670 Data type entry 862
CANxInOut DC braking
Inversion (C00401) 676 Current (C00036) 611
Cause of controller inhibit (C00158) 633 Hold time (C00107) 622
Cause of quick stop QSP (C00159) 634 DCB (DC-injection braking) 212
CE04: MCI communication error (error message) 462 DC-bus system
CE0F: MCI control word (error message) 462 Control of multiple brake choppers 234
CE1: CAN RPDO1 (error message) 463 DC-bus voltage (C00053) 612
CE2: CAN RPDO2 (error message) 463 DC-injection braking 211
CE3: CAN RPDO3 (error message) 464 Decel. time - main setpoint (C00013) 606
CE4: CAN bus off (error message) 462 Decel. time - quick stop (C00105) 621
CE5: CAN RPDO4 (error message) 464 Decoupling AnalogOut (C00441) 682
Change of the operating mode 398 Defining a user-defined V/f characteristic 140
CI01: Module missing/incompatible (error message) 464 Defining the current limits 123
Ck15: Error status sign. brake (error message) 468 Defining the speed limits 123
Ck16: Time overflow - manual operation (error message) 468 Del.resp. to fault
COB-ID 496 DC-bus overvoltage (C00601) 712
COBID (C00354) 668 Delay (C00983) 770
COB-ID EMCY (I-1014) 547 Description data (C00199) 647
COB-ID SYNC message (I-1005) 546 Device access protection 35
Commissioning wizard 8400 48 Device commands (C00002) 597
Communication control words (C00136) 626 Device overload monitoring (Ixt) 238
Communication cycle period (I-1006) 547 Device personalisation 40
Communication time 491 Device search function 83
Comparing applications 904 Device status (C00137) 627
Comparing FB interconnections 904 Device statuses (LED status display) 422
Comparing interconnections 904 Device type (I-1000) 544
Configuring exception handling of the CAN PDOs 522 Device utilisat. threshold (Ixt) (C00123) 624
Configuring exception handling of the output terminals 288 Device utilisation (Ixt) (C00064) 614
Consumer heartbeat time (I-1016) 548 dF10: AutoTrip reset (error message) 467
ConsumerTime HeartBeat Producer (C00386) 675 dF14: SW-HW invalid (error message) 466
Control mode (C00007) 602 dF18: BU RCOM error (error message) 466
Control type 118 dF21: BU watchdog (error message) 467
Conventions used 16 dF22: CU watchdog (error message) 467
Conventions used for variable identifiers 862 dF25: CU RCOM error (error message) 466
Copying a complete interconnection 907 dF26: Appl. watchdog (error message) 467
Copying an FB interconnection 907 dF50: Retain error (error message) 467
Copying an interconnection 907 dF51: CuCcr error (error message) 467
Copying elements 898 dF52: BuCcr error (error message) 468
Copying interconnection elements 898 dH09: EEPROM power section (error message) 468
Copying objects 898 dH10: Fan failure (error message) 468
Correction of the leakage inductance 193 dH68: Adjustment data error CU (error message) 469
Cosine phi (C00979) 769 dH69: Adjustment data error BU (error message) 469
CountIn1 dH70: ControlUnit is unequal to BaseUnit (error message) 469
Counter content (C02841) 824 DI1| DI2
Parameter (C02840) 824 Function (C00115) 623
CRC error 536 Diagnosis terminal X400 26
Current AutoFailReset processes (C00187) 645 Diagnostic interface (DIAG) 28
Current error (C00170) 641 Diagnostics X6
Current password protection (C00507) 698 Change baud rate (C01903) 788
Current setpoint filter (band-stop filter) 195 Current baud rate (C01905) 788
Current switching frequency (C00725) 734 Max. baud rate (C01902) 788
Index
________________________________________________________________
DigInX xx.0119.00001 454

Debounce time (C02830) 823 xx.0119.00015 454
Inversion (C00114) 622 xx.0119.00050 455
Digital terminals 261 xx.0123.00001 455
For electrical data see the hardware manual xx.0123.00007 455
User-defined terminal assignment 289 xx.0123.00014 455
DigOut decoupling (C00447) 685 xx.0123.00015 456
DigOut decoupling value (C00448) 686 xx.0123.00016 456
DigOutX xx.0123.00017 456
Inversion (C00118) 623 xx.0123.00030 457
xx.0123.00031 457
DIP switch settings 492
xx.0123.00032 457
Direction of rotation check (manual control) 50
xx.0123.00033 457
Display details of the current error 425
xx.0123.00057 457
Display error details 425 xx.0123.00058 458
Display of internal process factors in application units 995 xx.0123.00059 458
Display process factors on the keypad 995 xx.0123.00060 458
DIx xx.0123.00061 458
Level (C00443) 683 xx.0123.00065 458
DOx xx.0123.00071 459
Delay times (C00423) 680 xx.0123.00074 459
Level (C00444) 684 xx.0123.00090 459
Drive interface 72 xx.0123.00093 459
DRV-ERR (LED) 422 xx.0123.00094 459
DRV-RDY (LED) 422 xx.0123.00095 460
xx.0123.00096 460
E xx.0123.00097 460
xx.0123.00098 460
EASY Starter 25
xx.0123.00099 460
Elapsed-hour meter (C00178) 643
xx.0123.00105 461
Electrical data xx.0123.00145 461
see hardware manual xx.0123.00200 461
E-mail to Lenze 1029 xx.0123.00205 461
Emergency 540 xx.0125.00001 461
Emergency operation in case of encoder open circuit 154, 259 xx.0127.00002 462
Encoder 224 xx.0127.00015 462
Encoder evaluation method 224 xx.0131.00000 462
Encoder evaluation method DigIn12 (C00496) 696 xx.0131.00006 462
Encoder open-circuit monitoring 250 xx.0131.00007 462
Encoder scanning time (C00425) 680 xx.0131.00008 463
xx.0131.00011 463
Encoder/feedback system 220
xx.0131.00015 463
Energy display (C00981) 770
xx.0135.00001 463
Energy-saving V/f characteristic control (VFCplusEco) 144
xx.0135.00002 463
Engineer 25 xx.0135.00003 464
Error detection 536 xx.0135.00004 464
Error ID 445, 448 xx.0140.00013 464
Error information (C00165) 639 xx.0144.00001 464
Error information text (C00166) 640 xx.0144.00002 465
Error messages 444 xx.0144.00003 465
Error messages (short overview) 450 xx.0144.00004 465
Error messages (system bus) 529 xx.0144.00007 465
xx.0144.00008 466
Error number 444, 447
xx.0144.00009 466
xx.0111.00002 453
xx.0144.00010 466
xx.0111.00003 453
xx.0145.00014 466
xx.0111.00004 454
xx.0145.00024 466
xx.0111.00006 454
xx.0145.00025 466
xx.0119.00000 454
Index
________________________________________________________________
xx.0145.00026 467 Format error 536

xx.0145.00033 467 FreqIn12
xx.0145.00034 467 Function (C02844) 825
xx.0145.00035 467 PosIn comparison value (C02845) 825
xx.0145.00050 467 FreqInxx
xx.0145.00051 467 Gain (C02843) 824
xx.0145.00052 468 Offset (C02842) 824
xx.0184.00005 468 FreqInxx_dnOut_p (C00449) 686
xx.0184.00064 468 FreqInxx_nOut_a (C00446) 685
xx.0400.00009 468
FreqInxx_nOut_v (C00445) 684
xx.0400.00016 468
Frequency limitation (C00910) 763
xx.0400.00104 469
Function block editor 857
xx.0400.00105 469
xx.0400.00106 469 Function block interconnection 24
xx.0980.00000 ... xx.0980.65535 469 Function blocks 909
xx.0981.00000 ... xx.0981.65535 469 Function library 909
xx.0982.00000 ... xx.0982.65535 469
xx.0983.00000 ... xx.0983.65535 470 G
Error number masked (C00162) 635 General data (CAN on board) 489
Error register (I-1001) 544 General purpose functions 385
Error subject area 445, 447 GP functions (GeneralPurpose) 385
Error type 445
Export error texts 449 H
Exporting logbook entries 432 Heartbeat protocol 537
Extended status word (C00155) 632 Heatsink temperature (C00061) 614
Holding brake
F Activation time (C02593) 820
Failure indication (C00561) 703 Operating mode (C02580) 817
FB Editor 857 Setting (C02582) 818
Functional range 857 Speed thresholds (C02581) 818
Status (C02607) 821
FC01: Switching frequency reduction (error message) 459
Time system (C02589) 820
FC02: Maximum speed for Fchop (error message) 460
Holding brake control 402
FC03: Field controller limitation (error message) 460
Feedback to Lenze 1029
I
FI brake 229
I-1000 544
Field weakening for synchronous motors 199
I-1001 544
Field weakening oscillation damping (C00236) 652
I-1003 545
Fieldbus interface 568
I-1005 546
Field-oriented motor currents (C00937) 765
I-1006 547
Filter setpoint feedforward control (C00275) 655
I-1014 547
Filter time - earth-fault detect. is running (C01770) 787
I-1016 548
Filter time constant (C00497) 696
I-1017 549
Firmware (C00201) 648
I-1018 549
Firmware product type (C00200) 648
I-1200 550
Firmware update 85
I-1201 551
Firmware version (C00099) 620
I-1400 553
Firmware version (C00100) 621
I-1401 554
Fixed setpoint x (L_NSet_1 n-Fix) (C00039) 611
I-1402 555
Flying restart function 208
I-1403 556
Activation (C00990) 772
I-1600 557
Current (C00994) 773
Integration time (C00993) 772 I-1601 558
Process (C00991) 772 I-1602 558
Restart on the fly fd_add (C00989) 771 I-1603 559
Start frequency (C00992) 772 I-1800 560
Index
________________________________________________________________
I-1801 562 L_AnalogSwitch 913

I-1802 563 L_AnalogSwitch_1 913
I-1803 564 L_AnalogSwitch_2 914
I-1A00 565 L_AnalogSwitch_3 915
I-1A01 565 L_And 916
I-1A02 566 L_And_1 916
I-1A03 566 L_And_2 917
Id1: Motor data identification error (error message) 457 L_And_3 918
Id3: CINH identification (error message) 458 L_Arithmetik 919
Id4: Resistance identification error (error message) 458 L_Arithmetik_1 919
Id5: Pole position identification error (error message) 459 Function (C00338) 661
Id7: Motor control does not match motor data (error message) L_Arithmetik_2 920
458 Function (C00339) 661
Id8: Speed sensor has not been set (error message) 458 L_Compare 921
Identification procedure (C02867) 830 L_Compare_1 921
Identifier (CAN) 496 Fct. (C00680) 727
Identifiers of the parameter data objects 525 Hysteresis (C00681) 727
Identifiers of the process data objects 517 Window (C00682) 727
Identity (C00219) 649 L_Compare_2 926
Identity object (I-1018) 549 Fct. (C00685) 727
Hysteresis (C00686) 728
Imax controller 131
Window (C00687) 728
Imax in generator mode (C00023) 608
L_Compare_3 927
Imax in motor mode (C00022) 608
Fct. (C00690) 728
Imax/M controller gain (C00073) 616
Hysteresis (C00691) 728
Initial value motor overload (I²xt) (C00122) 624 Window (C00692) 729
Insert options for copied elements 900 L_DFlipFlop 928
Inserting complete interconnection from reference project 908 L_DFlipFlop_1 928
Inserting copied elements 900 L_DigitalDelay 930
Inserting FB interconnection from reference project 908 L_DigitalDelay_1 930
Integrated error detection 536 Delay (C00720) 733
Internal control signals (C00138) 628 L_DigitalLogic 932
Inverter motor brake 229 L_DigitalLogic_1 932
nAdd (C00987) 771 Function (C00820) 743
PT1 filter time (C00988) 771 Truth table (C00821) 743
L_DigitalLogic_3 934
K Function (C00828) 744
Keypad 26, 28 Truth table (C00829) 744
Default manual jog (C00453) 687 L_GainOffset 936
Default parameter (C00466) 690 L_GainOffset_1 936
Default welcome screen (C00467) 690
L_GainOffset_2 937
Display of internal process factors 995
L_GainOffset_3 938
Fct. STOP key (C00469) 691
L_Interpolator 939
LCD display 426
Set language 30 L_Interpolator_1 939
Timeout welcome screen (C00465) 690 Activation FB functions (C00950) 765
Userlevel 29 Limit value - error cycles (C00952) 766
No. of interpolation steps (C00951) 766
Keypad analog values (C00728) 735
Speed-up (C00953) 766
Keypad language 30
L_JogCtrlEdgeDetect_1 (C00488) 695
Keypad Userlevel (C00001) 597
L_JogCtrlExtension 942
L L_JogCtrlExtension_1 942
L_MPot 944
L_Absolut 911
L_Absolute_1 911
L_AddSub 912
L_AddSub_1 912
Index
________________________________________________________________
L_MPot_1 944 Deceleration time (C00228) 651

Acceleration time (C00802) 742 Deceleration time influence (C00244) 653
Deceleration time (C00803) 742 Internal actual value nAct_a (C00246) 654
Inactive fct. (C00804) 742 Kd (C00224) 650
Init fct. (C00805) 742 MaxLimit (C00225) 651
Lower limit (C00801) 742 MinLimit (C00226) 651
Upper limit (C00800) 741 Operating mode (C00242) 653
Use (C00806) 743 Operating range (C00231) 651
L_MulDiv 948 PID output value (C00245) 653
L_MulDiv_1 948 Root function (C00233) 652
Parameter (C00699) 729 Tn (C00223) 650
L_Negation 949 Vp (C00222) 650
L_Negation_1 949 Window setpoint reached (C00247) 654
L_Not 950 L_PT1 980
L_Not_1 950 L_PT1_1 980
Time constant (C00249) 654
L_Not_2 950
L_RLQ 981
L_Not_3 951
L_RLQ_1 981
L_NSet 952
L_SignalMonitor_a 982
L_NSet_1 952
Offs./gain (C00413) 679
Accel. time - add. setpoint (C00220) 650
Signal sources (C00410) 678
Additional value output (C00639) 724
Decel. time - add. setpoint (C00221) 650 L_SignalMonitor_b 983
Hyst. NSet reached (C00241) 652 Inversion (C00412) 679
Max.SkipFrq. (C00632) 722 Signal sources (C00411) 679
Min.SkipFrq. (C00633) 723 L_Transient 984
nMaxLimit (C00635) 724 L_Transient 1-4
nMinLimit (C00636) 724 Function (C01138) 782
nNOut_a (C00640) 725 Pulse duration (C01139) 783
Output blocking zones (C00637) 724 L_Transient_1 984
Output ramp rounding (C00638) 724 L_Transient_2 987
Ramp smoothing (C00134) 625 L_Transient_3 988
Setpoint arithmetic (C00190) 646 L_Transient_4 989
S-ramp time PT1 (C00182) 644 LA_NCtrl 301, 330
wState (C00634) 723 Analog connection list (C00700) 730
L_OffsetGain 963 Application block 301, 330
L_OffsetGain_1 963 Digital connection list (C00701) 731
L_OffsetGain_2 964 LA_NCtrl_In 301, 330
L_OffsetGainP 965 LA_NCtrl_Out 301, 330
L_OffsetGainP_1 965 LA_SwitchPos 361
Gain (C00670) 726 Analog connection list (C00760) 738
Offset (C00696) 729 Application block 361
L_OffsetGainP_2 966 Digital connection list (C00761) 739
Gain (C00671) 726 LA_SwitchPos_In 361
Offset (C00697) 729 LA_SwitchPos_Out 361
L_OffsetGainP_3 967 Layout of the safety instructions 19
Gain (C00672) 726 LCD display (keypad) 426
Offset (C00698) 729 LED "CAN-ERR" 494
L_Or 968 LED "CAN-RUN" 494
L_Or_1 968 LED status displays 421
L_Or_2 969 L-force »EASY Starter« 25
L_Or_3 970 L-force »Engineer« 25
L_Or_4 971 Library 909
L_PCTRL 972 Lock bFail at TroubleQSP 101
L_PCTRL_1 972 Logbook - analog elements (C00164) 638
Acceleration time (C00227) 651
Logbook - binary elements (C00163) 635
Acceleration time influence (C00243) 653
Index
________________________________________________________________
Logbook access index User (C00191) 646 LS_ParReadWrite 1-3

Logbook data User (C00192) 647 Arithmetic mode (C01093) 780
Logbook element User (C00193) 647 Cycle time (C01091) 779
Logbook setting (C00169) 641 Denominator (C01095) 780
LP_CanIn decoupling value (C00343) 664 FailState (C01092) 779
Index (C01090) 778
LP_CanIn mapping (C00407) 677
Numerator (C01094) 780
LP_CanIn mapping (C00409) 678
LS_ParReadWrite_1 1005
LP_CanIn mapping selection (C00408) 677
LP_CanIn1 505
LP_CanIn2 507
LS_PulseGenerator 1009
LP_CanIn3 509
LS_PulseGenerator (C00400) 676
LP_CanIn4 511
LS_SetError_1 471
LP_CanOut decoupling value (C00344) 665
LS_SetError_x
LP_CanOut1 513
Error number (C00161) 635
LP_CanOut2 514
LS_SyncManagement 576
LP_CanOut3 515
LS_WriteParamList 588
LP_CanOut4 516
Auto-DCB
LP_MciIn 572 Hold time (C02244) 800
LP_MciOut 573 Threshold (C02215) 791
LP1: Motor phase failure (error message) 461 DC braking
LS_AnalogIn1 Current (C02219) 792
PT1 time constant (C00440) 682 Hold time (C02245) 800
LS_AnalogInput 287 Empfindlichkeit Sollwertvorsteuerung (C02264) 802
LS_AnalogOutput 287 Error line (C01084) 776
LS_Brake 403 Error status (C01083) 776
LS_CANManagement 567 Execute Mode (C01082) 776
Field weakening oscillation damping (C02251) 801
LS_DeviceMonitor 257
Flying restart function
LS_DigitalInput 273
Activation (C02295) 810
LS_DigitalOutput 279
Current (C02299) 811
LS_DisFree 993 Integration time (C02298) 811
LS_DisFree (C00481) 693 Process (C02296) 810
LS_DisFree_a 994 Start frequency (C02297) 810
LS_DisFree_a (C00482) 693 Frequency limitation (C02274) 804
LS_DisFree_b 996 Function (C02200) 789
LS_DisFree_b (C00480) 693 Imax in generator mode (C02218) 792
LS_DriveInterface 98 Imax in motor mode (C02217) 791
bNActCompare (C00024) 609 Imax/M controller gain (C02223) 794
Error message config. (C00148) 630 Index (C01085) 777
LS_Keypad 997 Inverter motor brake
LS_Keypad digital values(C00727) 735 nAdd (C02293) 809
PT1 filter time (C02294) 809
LS_MotionControlKernel 392
Manual entry of motor type (C02315) 817
LS_MotorInterface 251
Max. motor speed (C02280) 805
LS_ParFix 999
Moment of inertia (C02256) 802
LS_ParFree 1000 Motor cable cross-section (C02276) 804
LS_ParFree (C00471) 691 Motor cable length (C02275) 804
LS_ParFree_a 1001 Motor control (C02210) 789
LS_ParFree_a (C00472) 692 Motor cosine phi (C02240) 799
LS_ParFree_b 1002 Motor magnetising current (C02242) 799
LS_ParFree_b (C00470) 691 Motor magnetising inductance (C02241) 799
LS_ParFree_p 1003 Motor phase direction of rotation (C02272) 803
LS_ParFree_p (C00474) 692 Motor rotor resistance (C02232) 796
Motor stator leakage inductance (C02234) 797
LS_ParFree_v 1004
Motor stator resistance (C02233) 797
LS_ParFree_v (C00473) 692
Oscillation damping filter time (C02250) 801
LS_ParReadWrite 1005
Index
________________________________________________________________
Oscillation damping influence (C02249) 801 M

Override point of field weakening (C02230) 796 Main program runtime (C00321) 659
PLI without motion
Mains connection (behaviour) 95
Adaptation of ident angle (C02313) 816
Mains phase failure monitoring 248
Adaptation of time duration (C02311) 815
Mains voltage (C00173) 642
PLI without motion (C02312) 816
PSM Manual control 50
Activate Lss sat. char. (C02307) 815 Manual DC-injection braking (DCB) 212
Imax Lss saturation characteristic (C02306) 815 Manual entry of motor type (C01001) 775
Lss saturation characteristic (C02305) 813 Manual motor direction of rotation check 50
Maximum motor current field weakening (C02278) 805 Master functionality (CAN) 502
Rated motor current (C02237) 798 MasterPin 42
Rated motor frequency (C02238) 798 Max. motor speed (C00965) 766
Rated motor power (C02231) 796 Max. number of AutoFailReset processes (C00186) 645
Rated motor speed (C02236) 797 Maximum current monitoring 248
Rated motor voltage (C02239) 798
Maximum torque (C00057) 613
Reset time Imax/M controller (C02224) 794
Maximum torque monitoring 249
SC
MCI input words (C00876) 761
Settings (C02229) 795
Tdn speed controller (C02222) 793 MCI output words (C00877) 762
Setting of motor overload (I²xt) (C02246) 800 MCI_InOut
Slip comp. (C02216) 791 Inversion (C00890) 762
SLPSM MCK 390
Controlled current setpoint (C02300) 811 Accel./decel. times (C02610) 822
Filter cutoff frequency (C02302) 812 Limitations (C02611) 822
Filter time rotor position (C02303) 812 Resp. to MCK error (C00595) 710
PLL gain (C02304) 813 MCK state machine 398
Switching speed (C02301) 812 MCK status word 397
SLVC MCTRL
Cross current controller gain (C02292) 809 Actual speed value (C00051) 612
Field current controller gain (C02291) 808 Optimisations (C02864) 827
Speed limitation (C02273) 803 Special settings (C02865) 828
Speed sensor selection (C02260) 802 Special settings (C02866) 829
Switching frequency (C02214) 790 Speed setpoint (C00050) 611
Ti current controller (C02226) 795 Status (C01000) 775
Ti speed controller (C02221) 793 Memory module 32
Ultimate motor current (C02279) 805 Binding ID 40
VFC Moment of inertia from load (C00919) 764
Limitation V/f + sensor (C02284) 806
Moment of inertia motor (C00273) 655
Ti V/f +sensor (C02286) 807
Monitoring 237, 436
Time const. slip comp. (C02281) 806
Motion Control Kernel (MCK) 390
V/f base frequency (C02212) 789
Vmin boost (C02213) 790 Motor cable cross-section (C00916) 764
Vp V/f +sensor (C02285) 806 Motor cable length (C00915) 764
VFC-ECO Motor cable resistance (C00917) 764
Minimum voltage V/f (C02289) 808 Motor catalogue 109
Ti CosPhi controller (C02288) 807 Motor control 104
Voltage reduction ramp (C02290) 808 87-Hz operation 134
Vp CosPhi controller (C02287) 807 DC-injection braking 211
Vp current controller (C02225) 794 Energy-saving V/f characteristic control (VFCplusEco) 144
Vp speed controller (C02220) 792 Flying restart function 208
WriteValue_1 (C01086) 777 Oscillation damping 216
WriteValue_2 (C01087) 777 Selection help 122
WriteValue_3 (C01088) 778 Selection of switching frequency 202
WriteValue_4 (C01089) 778 Selection of the control type 118
LU: DC bus undervoltage (error message) 456 Sensorless vector control (SLVC) 161
Slip compensation 215
V/f characteristic control (VFCplus) 126
Index
________________________________________________________________
V/f control (VFCplus + encoder) 154 oC5: Ixt overload (error message) 455
Motor control (C00006) 601 oC6: I2xt overload - motor (error message) 461
Motor cosine phi (C00091) 619 oC7 241
Motor current (C00054) 612 oC7: Motor overcurrent (error message) 455
Motor data 105 oH1: Heatsink overtemperature (error message) 454
Motor data changeover 577 oH3: Motor temperature (X106) triggered (error message) 454
Motor data parameter list 577 oH4: Heatsink temp. > shutdown temp. -5°C (error message)
Motor holding brake 402 454
Motor load monitoring (I2xt) 239 Open-circuit monitoring - encoder 250
Motor magnetising current (C00095) 620 Operating conditions (CAN on board) 489
Motor magnetising inductance (C00092) 619 Operating mode
Motor overcurrent monitoring 241 Speed follower 400
Motor parameter identification 111 StandBy 398
Motor parameter identification is active 87 Operation with increased rated power 206
Motor phase direction of rotation (C00905) 763 Operation with safety module 399
Motor phase error monitoring before operation 246 Optical location 83
Motor phase failure monitoring 245 Optimising the response to setpoint changes (SLVC) 171
Motor phase failure threshold (C00599) 711 Option "Lock bFail at TroubleQSP" 101
Motor rotor resistance (C00082) 618 Original application|control source (C00008) 604
Motor rotor time constant (C00083) 618 oS1: Maximum speed limit reached (error message) 457
Motor selection 105 oS2: Max. motor speed (error message) 457
Motor speed monitoring 249 Oscillation damping 216
Motor stator leakage inductance (C00085) 618 Oscillation damping filter time (C00235) 652
Motor stator resistance (C00084) 618 Oscillation damping influence (C00234) 652
Motor temperature monitoring (PTC) 242 Oscilloscope function 472
Motor voltage (C00052) 612 ot1: Maximum torque reached (error message) 455
Motorparameter (C00969) 768 ot2: Speed controller output limited (error message) 459
Multilingualism 30 oU: DC bus overvoltage (error message) 455
Output frequency (C00058) 613
N Output power (C00980) 770
Network management telegram (NMT) 501 Override point of field weakening (C00080) 617
NMT (network management) 501
Node address 497
P
Node ID 497 Parameter change-over 577
Number of CAN SDO channels (C00366) 672 Parameterisable function blocks 860
Number of encoder increments (C00420) 680 Password data (C00505) 697
Password protection 36
O PC manual control 67
O1U PDO mapping 505, 507, 509, 511
Gain (C00434) 681 PDO synchronisation 521
Input value (C00439) 681 Peak current limitation 123
Offset (C00435) 681 Phase sequence reversal 219
Voltage (C00436) 681 Plant parameters 110
oC1: Power section - short circuit (error message) 456 PLI without motion
oC10: Maximum current reached (error message) 457 Adaptation of ident angle (C02875) 832
oC11: Clamp operation active (error message) 459 Adaptation of time duration (C02872) 831
oC12: I2xt overload - brake resistor (error message) 458 Ident. el. rotor displ. angle (C02873) 831
oC13: Maximum current for Fch exceeded (error message) 459 Optimisation factor (C02870) 830
oC14: Direct-axis current controller limitation (error message) Running time (C02871) 830
460 PLI without motion (C02874) 832
oC15: Cross current controller limitation (error message) 460 Pole position identification 197
oC16: Torque controller limitation (error message) 460 Port block "LP_CanIn1" 505
oC17: Clamp sets pulse inhibit (error message) 457 Port block "LP_CanIn2" 507
oC2: Power section - earth fault (error message) 456 Port block "LP_CanIn3" 509
Index
________________________________________________________________
Port block "LP_CanIn4" 511 Resp. to brake resist. overtemp. (C00574) 706
Port block "LP_CanOut1" 513 Resp. to CAN bus connection (C00592) 709
Port block "LP_CanOut2" 514 Resp. to CANx_IN monitoring (C00593) 709
Port block "LP_CanOut3" 515 Resp. to communication error with MCI (C01501) 786
Port block "LP_CanOut4" 516 Resp. to control word error (C00594) 710
Position encoder selection (C00490) 696 Resp. to controller limitations (C00570) 705
Power section ID (C00093) 620 Resp. to DC-bus voltage (C00600) 712
Power-on time meter (C00179) 643 Resp. to device overload (Ixt) (C00604) 712
Pre-defined error field (I-1003) 545 Resp. to earth fault (C00602) 712
Printing the interconnection 903 Resp. to fan failure (C00566) 704
Process data objects, identifiers 517 Resp. to heatsink temp. > shutdown temp. -5°C (C00582) 707
Processing time 491 Resp. to LS_SetError_x (C00581) 707
Producer heartbeat time (I-1017) 549 Resp. to mains phase failure (C00565) 703
Product type code (C00203) 648 Resp. to max. freq. feedb. DIG12/67 (C00607) 713
PS01: No memory module (error message) 464 Resp. to max. speed at switching freq. (C00588) 708
PS02: Par. set invalid (error message) 465 Resp. to max. speed/output freq. reached (C00579) 706
PS03: Par. set device invalid (error message) 465 Resp. to maximum current (C00609) 713
PS04: Par. set Mci invalid (error message) 465 Resp. to maximum torque (C00608) 713
PS07: Par. memory module invalid (error message) 465 Resp. to motor overload (I²xt) (C00606) 713
PS08: Par. device invalid (error message) 466 Resp. to motor overtemp. PTC (C00585) 707
PS09: Par. format invalid (error message) 466 Resp. to motor phase failure (C00597) 711
PS10: Memory module binding invalid (error message) 466 Resp. to open circuit AINx (C00598) 711
PSM Resp. to open circuit HTL encoder (C00586) 708
Activate Lss sat. char. (C02859) 826 Resp. to operating system error (C00580) 706
Imax Lss saturation characteristic (C02855) 826 Resp. to peak current (C00569) 704
Lss saturation characteristic (C02853) 826 Resp. to PLI monitoring (C00643) 725
Maximum motor current field weakening (C00938) 765 Resp. to speed controller limited (C00567) 704
PTC 242 Resp. to switching frequency reduction (C00590) 708
PW protection config MCI (C00510) 701 Resp. to too frequent AutoFailReset (C00189) 646
PW protection config X1(CAN) (C00509) 700 Resp. to wrong controller setting (C00571) 705
PW protection config X6(DIAG) (C00508) 699 Reversing the phase sequence 219
PW protection internal config (C00506) 697 Rotor displacement angle detection after controller enable 197
RPDO1 communication parameter (I-1400) 553
R
RPDO1 mapping parameter (I-1600) 557
Rated device current (C00098) 620
Rated heat amount of brake resist. (C00131) 625
Rated motor current (C00088) 619
Rated motor frequency (C00089) 619
Rated motor power (C00081) 617
Rated motor speed (C00087) 618
Rated motor torque (C00097) 620
Running time (C00180) 644
Rated motor voltage (C00090) 619
Rated power - brake resistor (C00130) 624 S
Reduc. brake chopper threshold (C00174) 642 Safety functions 399
Reference project 908 Safety instructions 19
Remote Safety module 399
Acceleration/deceleration time (C00461) 688
Saturation characteristic 193
Control (C00462) 688
SC
MCK control (C00463) 689
Depth of current setpoint filter (C00272) 655
Monitoring timeout (C00464) 690
Filter time const. DC detection (C00280) 656
Setpoint selection (C00729) 735
Freq. current setpoint filter (C00270) 654
Reset error message 448
Max. acceleration change (C00274) 655
Reset node (CAN) 495 max. output voltage (C00276) 656
Reset time Imax/M controller (C00074) 616 Settings (C00079) 617
Index
________________________________________________________________
Tdn speed controller (C00072) 616 Status word (MCK) 397

Width of current setpoint filter (C00271) 655 Stop of the ramp function generator 229
Scaling of physical units 863 Stop the ramp function generator 229
Sd10: Speed limit for feedback system 12 (error message) 461 Stuff-bit error 536
Sd3: Feedback system open circuit (error message) 461 Su02: One mains phase is missing (error message) 453
SDO1 server parameter (I-1200) 550 Su03: Too frequent mains switching (error message) 453
SDO2 server parameter (I-1201) 551 Su04: CU insufficiently supplied (error message) 454
Selection help for motor control 122 Su06: Mains input overload (error message) 454
Selection of switching frequency 202 Switching cycles (C00177) 643
Selection of the control type 118 Switching freq. reduct. (Temp.) (C00144) 629
Sensibility - Setpoint feedforward control (C00653) 725 Switching frequency 202
Sensorless control for synchronous machines (SLPSM) 120 Switching frequency (C00018) 607
Sensorless vector control (SLVC) 120, 161 Switching status of the fans (C00560) 703
Serial number (C00204) 649 Switch-on inhibit 95
Setpoint synchronisation ramp 401 Sync correction width (C01124) 782
Setting of motor overload (I²xt) (C00120) 623 Sync cycle time setpoint (C01121) 781
Setting the baud rate 493 Sync phase position (C01122) 781
Setting the error response 438 Sync signal source (C01120) 781
Setting the node address 493 Sync telegram 521
Short overview of error messages 450 Sync window (C01123) 782
Signal flow Synchronous motor
Energy-saving V/f characteristic control (VFCplusEco) 145, Field weakening 199
179 SyncTxRxTimes (C00370) 674
Sensorless vector control (SLVC) 163 System blocks 990
V/f characteristic control (VFCplus) 127, 128
System bus 488
V/f control (VFCplus + encoder) 155, 156, 162
System connection list
Signal type entry 863
16-bit (C00620) 714
Slip calculation from equivalent circuit diagram (C02879) 833 Angle (C00622) 722
Slip comp. (C00021) 608 Bool (C00621) 716
Slip compensation 215 System fault messages 444
Slip regulator 158 System runtimes (C00312) 658
SLPSM
Controlled current setpoint (C00995) 773 T
Filter cutoff frequency (C00997) 773 Target group 15
Filter time rotor position (C00998) 774
Task selection 867
PLL gain (C00999) 774
Technology applications 22
Switching speed (C00996) 773
Temperature inside the controller (C00062) 614
SLVC
Terminals 260
Cross current controller gain (C00986) 771
Analog terminals 280
Field current controller gain (C00985) 771
Digital terminals 261
Source of diff. setpoint feedforward control (C00654) 726
For electrical data see the hardware manual
Speed control with torque limitation (SLVC) 164
User-defined terminal assignment 289
Speed feedback 121
Thermal motor load (I²xt) (C00066) 615
Speed follower 400
Ti current controller (C00076) 617
Speed limitation (C00909) 763
Ti speed controller (C00071) 615
Speed sensor selection (C00495) 696
Time settings (C00181) 644
Speed setpoint generation 401
Torque (C00056) 613
StandBy (MCK operating mode) 398
Torque control with speed limitation (SLVC) 165
State machine (MCK) 398
Torque feedforward control (SLVC) 171
Status determining error (16-bit) (C00160) 634
Torque limitation 138
Status determining error (C00168) 640
TPDO1 communication parameter (I-1800) 560
Status displays 421
TPDO1 mapping parameter (I-1A00) 565
Status of last device command (C00003) 600
Status word (C00150) 631
Index
________________________________________________________________

Transmission mode CAN Rx PDOs (C00323) 660
Transmission mode CAN TxPDOs (C00322) 659
Transmission type 519
U
Ultimate motor current 241
Ultimate motor current (C00939) 765
USB diagnostic adapter 26
User data 525
User error 1 (error message) 469
User menu 34
User menu (C00517) 702
User-definable V/f characteristic 140
Userlevel 29
V
V/f base frequency 133
V/f characteristic control (VFCplus) 119, 126
V/f control (VFCplus + encoder) 154
V/f emergency operation in case of encoder open circuit 154,
259
Validity 15
VFC
Frequency interpol. point n (C00967) 767
Limitation V/f + sensor (C00971) 768
Ti V/f +sensor (C00973) 768
Time const. slip comp. (C00966) 766
V/f base frequency (C00015) 606
Vmin boost (C00016) 607
Voltage interpol. point n (C00968) 767
Vp V/f +sensor (C00972) 768
VFC-ECO
Minimum voltage V/f (C00977) 769
Ti CosPhi controller (C00976) 769
Voltage reduction (C00978) 769
Voltage reduction ramp (C00982) 770
Vp CosPhi controller (C00975) 769
Vmin boost 135
Vp current controller (C00075) 616
Vp speed controller (C00070) 615
Your opinion is important to us
)(('%$&.
These instructions were created to the best of our knowledge and
belief to give you the best possible support for handling our product.
If you have suggestions for improvement, please e-mail us to:
feedback-docu@Lenze.de
Thank you for your support.

Your Lenze documentation team
1029
8400 StateLine · Reference manual · EDS84AVSCxx · 13465122 · DMS 12.0 EN · 06/2014 · TD05/TD14

Lenze Drives GmbH
Breslauer Straße 3
D-32699 Extertal
Germany
+49 5154 82-0
lenze@lenze.com
www.lenze.com
Service
Lenze Service GmbH
Breslauer Straße 3
D-32699 Extertal
Germany
008000 24 46877 (24 h helpline)
+49 5154 82-1112
service@lenze.com

User Manual 20855 (Manymanuals.com)

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

User Manual 20855 (Manymanuals.com)

Uploaded by

Copyright:

Available Formats

Inverter

Inverter Drives 8400 StateLine C _ _ _ _ _ _ _ _ Reference manual EN

Project planning, selection & ordering Legend:

2 Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15

2 Introduction: Parameterising the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14 3

4 Device control (DCTRL) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72

5 Motor control (MCTRL) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 104

4 Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

5.5 V/f characteristic control - energy-saving (VFCplusEco) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 144

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14 5

5.10 Encoder/feedback system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 220

6 I/O terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 260

6 Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

7 Technology applications _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 296

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14 7

7.5 "GeneralPurpose" functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 385

8 Basic drive functions (MCK) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 390

9 Diagnostics & error management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 420

8 Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

9.7 Maloperation of the drive _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 440

10 Oscilloscope function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 472

11 System bus "CAN on board" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 488

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14 9

11.8 Process data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 503

12 Fieldbus interface (MCI) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 568

13 Synchronisation of the internal time base _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 575

14 Parameter change-over _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 577

10 Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

15 Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 590

16 Working with the FB Editor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 857

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14 11

16.4.5 Changing the processing order _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 896

17 Function library _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 909

12 Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14 13

17.2.14 LS_ParFix _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 999

Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 1029

14 Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

1 About this documentation

Product series Type designation from software version

1.1 Document history

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14 15

1.2 Conventions used

Type of information Writing Examples/notes

16 Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

1.3 Terminology used

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14 17

18 Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

1.4 Definition of the notes used

 Pictograph and signal word!

Pictograph Signal word Meaning

Pictograph Signal word Meaning

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14 19

2 Introduction: Parameterising the controller

20 Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

L-force EASY Starter

 Signal inputs for control and setpoint signals

[2-1] Adaptation of the drive solution via parameter setting

Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14 21

2.1 Integrated technology applications

Technology application "Actuating drive speed"

technology application "Actuating drive speed (AC Drive Profile)"

,QPDQXDOFRQWUROPRGH WXST VYR ,QPDQXDOFRQWUROPRGH